CN102581603B - Manipulator - Google Patents
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- CN102581603B CN102581603B CN201210023663.6A CN201210023663A CN102581603B CN 102581603 B CN102581603 B CN 102581603B CN 201210023663 A CN201210023663 A CN 201210023663A CN 102581603 B CN102581603 B CN 102581603B
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Abstract
The invention discloses a manipulator, which is used for fastening relatively rotatable bolts on a bearing inner ring and a bearing outer ring. The manipulator comprises a horizontal guide, a vertical guide, a horizontal linear motion actuator, an automatic wrench, a wrench fixture, a vertical linear motion actuator and a control system, wherein the horizontal guide is installed on an inner ring or outer ring of a bearing and provided with a reaction support, the vertical guide is capable of sliding along the horizontal guide, the horizontal linear motion actuator is installed between the reaction support and the vertical guide, the wrench fixture is provided with a clamping portion for clamping the automatic wrench and a vertical slide portion capable of sliding along the vertical guide, the vertical linear motion actuator is vertically installed between a linear motion actuator mounting portion of the vertical guide and the wrench fixture and drives the wrench fixture to slide along the vertical guide, and the control system is used for controlling expansion of the horizontal linear motion actuator and the vertical linear motion actuator and operation of the automatic wrench. The manipulator can be used for automatically fastening a large bearing with a plurality of bolts.
Description
Technical field
The present invention relates to a kind of manipulator, specifically, relate to a kind of driftage bearing for automatic fastening wind power generating set and the manipulator that becomes the bolt on the bearing inner race of starching bearing.
Background technology
The driftage bearing using in wind power generating set and the volume of pitch variable bearings are larger, and bearing fixed installation hole is distributed on bearing inner race and bearing outer ring.Wherein, bearing inner race adopts bolt to be connected with the structural member (base or wheel hub) of wind power generating set, maintain static, and bearing outer ring is under the drive of the pinion of motor-driven decelerator, rotates.
At present, fastening driftage bearing and pitch variable bearings bolt generally have two kinds of modes of operation.The first mode of operation is the fastening bearing bolt of workman's direct control mechanical torque spanner.The second mode of operation is that single workman adopts aerodynamic moment spanner or electric torque wrench to operate.For example, in the time of fastening bearing inner race bolt, generally with pneumatic impact spanner or electric wrench, moment is tightened and applied to single bolt by single workman, 2 workmans carry out fastening operation simultaneously diagonally.
Generally, the fastening technological requirement of bearing bolt is as follows: (1) sequentially: for " ten " word symmetry fastening; (2) make moment: score beat moment three times, get to for the first time 50% of Tightening moment value, get to for the second time 75% of Tightening moment value, get to for the third time 100% of Tightening moment value.
For the first mode of operation, because the moment values of current holding down bolt is very large, if M30 Bolt Torque value is 1400Nm, M36 Bolt Torque value is 1900Nm, so cannot complete by single manpower, need have 3 people to pull together above.But many people formula torque spanner of operating machine exists potential safety hazard, if wrench socket is under impact force action, easily slippage, causes injury to personnel or damages parts.And this mode of operation wastes time and energy, operating efficiency is very low.
For the second mode of operation, although by manual operation, pneumatic or electric tool completes bolted action and has alleviated to a certain extent labor strength, but fail to reach the object of liberating workman completely, and single bearing needs fastening bolt more, therefore the workload of fastening bolt is large, and productivity ratio is not high.
Therefore, be necessary to develop a kind of can automatic fastening wind power generating set driftage bearing and become the manipulator of the bolt on the bearing inner race of slurry bearing.
Summary of the invention
The object of the present invention is to provide a kind of can automatic fastening driftage bearing and become the manipulator of the bolt on the bearing inner race of slurry bearing.
To achieve these goals, a kind of manipulator has been proposed, the bolt for fastening outer ring and inner ring on can counterrotating bearing, described manipulator comprises: horizontal guide, be installed on the inner ring or outer ring that can rotate of bearing, and there is reaction abutment; Vertically guiding piece, can slide along horizontal guide in its bottom; Horizontal rectilinear motion executive component, is installed between reaction abutment and vertical guiding piece; Autowrench, for fastening bolt; Spanner fixture, has retained part and vertical slipper, and retained part is used for clamping autowrench, and vertically slipper can slide along vertical guiding piece; Vertically linear actuator element, is installed between the linear actuator element installation portion and spanner fixture of vertical guiding piece, so that spanner fixture slides along vertical guiding piece vertically; Control system, the operation of the flexible and autowrench of level of control linear actuator element and vertically linear actuator element.
Described horizontal guide can be horizontally-sliding guide or flat spin member, and described vertical guiding piece can be vertical rail plate or vertical spiral component.
It can be horizontal air cylinder that described horizontal rectilinear motion is carried out member, and described vertical straight line Motor execution member can be vertical cylinder, and described autowrench can be pneumatic impact spanner.
It can be horizontal hydraulic cylinder that described horizontal rectilinear motion is carried out member, and described vertical straight line Motor execution member can be vertical hydraulic cylinder, and described autowrench can be the spanner that surges.
Described autowrench can be electric wrench.
Described manipulator also can comprise: firm banking, is arranged on the bottom of horizontal guide; Rubber blanket, is arranged in the part beyond the part being connected with firm banking on the bottom of horizontal guide.
The cylinder body of described horizontal rectilinear motion executive component can be connected to vertical guiding piece, and the external part of the piston rod of horizontal rectilinear motion executive component can be connected to reaction abutment.
Described spanner fixture also can comprise retained part and the interconnected coupling part of vertical slipper, vertically the external part of the piston rod of linear actuator element can be connected to this coupling part, and vertically the cylinder body of linear actuator element can be connected to the linear actuator element installation portion of vertical guiding piece.
Described manipulator also can comprise firm banking, and this firm banking is arranged on the bottom of horizontal guide, and horizontal guide can be installed on the inner ring or outer ring that can rotate of bearing by this firm banking.
Described autowrench can be that fluid dynamic drives spanner.
Described control system can comprise: hydrodynamic source, and water supply flat line Motor execution element, vertically linear actuator element and fluid dynamic drive spanner that drive fluid is provided; The first magnetic valve, for the stroke of level of control linear actuator element; The second magnetic valve, for controlling the stroke of vertical linear actuator element; The 3rd magnetic valve, drives the operation of spanner for controlling fluid dynamic; Press button, for starting and the control operation of stop control system, in the time starting the control of control system, the piston rod that makes the second magnetic valve and the 3rd magnetic valve control respectively vertical linear actuator element stretches out and controls fluid dynamic and drives the fastening part of spanner to rotate.
Described horizontal rectilinear motion executive component also can comprise for generation of horizontal rectilinear motion executive component and stretch out predetermined stroke and the first magnetic switch and second magnetic switch of the signal of having retracted, and described vertical linear actuator element also can comprise the 3rd magnetic switch for generation of the signal that vertically linear actuator element has been retracted.
Described control system can comprise: hydrodynamic source, and water supply flat line Motor execution element, vertically linear actuator element and fluid dynamic drive spanner that drive fluid is provided; First fluid control valve, is connected with hydrodynamic source, flexible for the piston rod of level of control linear actuator element; Second fluid control valve, is connected with hydrodynamic source, for controlling piston rod flexible of vertical linear actuator element;
The 3rd control valve for fluids, is connected with hydrodynamic source, drives the operation of spanner for controlling fluid dynamic; Hand-operated valve, for starting and the control of stop control system, in the time starting the control of control system, second fluid control valve commutated and the piston rod of vertical linear actuator element is stretched out, and making fluid dynamic drive the fastening part rotation of spanner by the 3rd control valve for fluids.
Described control system also can comprise: the first flow speed control valve, for horizontal rectilinear motion executive component is carried out to pressure compensation; The second flow speed control valve, for carrying out pressure compensation to vertical linear actuator element.
Described control system also can comprise: the first machine control valve, and the horizontal rectilinear motion executive component that is stretched out predetermined stroke by piston rod triggers, so that second fluid control valve commutates and vertical linear actuator element is retracted; The second machine control valve, the vertical linear actuator element of being retracted by piston rod triggers, so that first fluid control valve commutates and horizontal rectilinear motion executive component is retracted; The 3rd machine control valve, the horizontal rectilinear motion executive component of being retracted by piston rod triggers, so that second fluid control valve commutation and the piston rod of vertical linear actuator element is stretched out, and make the 3rd control valve for fluids commutation and make fluid dynamic drive the fastening part rotation of spanner.
Control system can be configured to: shut-down operation in the time that fluid dynamic drives spanner to reach predetermined torque to the Tightening moment of bolt, the piston rod of horizontal rectilinear motion executive component stretches out, to promote inner ring or the outer ring rotation of bearing by reaction abutment.
In the time that fluid dynamic drives spanner to reach predetermined torque to the Tightening moment of bolt, the exportable signal of telecommunication of control system, to control the 3rd magnetic valve commutation, the fastening part of fluid dynamic driving spanner is stopped the rotation, and control the first magnetic valve commutation and the piston rod of horizontal rectilinear motion executive component is stretched out.
In the time that fluid dynamic drives spanner to reach predetermined torque to the Tightening moment of bolt, the exportable feedback signal of control system, oppositely make the fastening part of fluid dynamic driving spanner stop the rotation to control the 3rd control valve for fluids, and control the commutation of first fluid control valve and the piston rod of horizontal rectilinear motion executive component is stretched out.
Control system also can be configured to: when the piston rod of horizontal rectilinear motion executive component stretches out after predetermined stroke, the first magnetic switch is triggered so that the second magnetic valve commutates to control the piston rod retraction of vertical linear actuator element, drives spanner thereby mention fluid dynamic.
Control system also can be configured to: after the piston rod of vertical linear actuator element is retracted, trigger the 3rd magnetic switch and retract to control the first magnetic valve commutate piston rod of level of control linear actuator element, so that the fluid dynamic of manipulator drives spanner to move to the position of next bolt.
Control system also can be configured to: after the piston rod of horizontal rectilinear motion executive component is retracted, trigger the second magnetic switch so that the second magnetic valve commutation and the piston rod of vertical linear actuator element is stretched out, and make the 3rd magnetic valve commutation and make fluid dynamic drive the fastening part rotation of spanner.
Accompanying drawing explanation
By the description of carrying out below in conjunction with accompanying drawing, above and other object of the present invention and feature will become apparent, wherein:
Fig. 1 is the stereogram illustrating according to the manipulator of the first embodiment of the present invention;
Fig. 2 is the assembling stereogram illustrating according to the horizontally-sliding guide of the first embodiment of the present invention, vertically rail plate and pneumatic impact spanner fixture;
Fig. 3 is the stereogram illustrating according to the bonding state of the pneumatic impact spanner fixture of the first embodiment of the present invention and pneumatic impact spanner;
Fig. 4 is the front view mainly illustrating according to the connection between the pneumatic impact spanner fixture of the first embodiment of the present invention, vertically cylinder and vertical rail plate;
Fig. 5 is the face upwarding stereogram illustrating according to the firm banking of the manipulator of the first embodiment of the present invention;
Fig. 6 is the control system figure illustrating according to the manipulator of the first embodiment of the present invention;
Fig. 7 to Figure 11 is the stereogram illustrating according to the action step of the manipulator of the first embodiment of the present invention;
Figure 12 is the stereogram that manipulator is according to a second embodiment of the present invention shown;
Figure 13 is the control system figure that manipulator is according to a second embodiment of the present invention shown.
The specific embodiment
Below, describe embodiments of the invention in detail with reference to accompanying drawing.
Fig. 1 is the stereogram illustrating according to the manipulator of the first embodiment of the present invention.Fig. 2 is the assembling stereogram illustrating according to the horizontally-sliding guide of the first embodiment of the present invention, vertically rail plate and pneumatic impact spanner fixture.Fig. 3 is the stereogram illustrating according to the bonding state of the pneumatic impact spanner fixture of the first embodiment of the present invention and pneumatic impact spanner.Fig. 4 is the front view mainly illustrating according to the connection between the pneumatic impact spanner fixture of the first embodiment of the present invention, vertically cylinder and vertical rail plate.Fig. 5 is the face upwarding stereogram illustrating according to the firm banking of the manipulator of the first embodiment of the present invention.
As shown in Figures 1 to 5, mainly comprise according to the manipulator 100 for the bolt 113 on the inner ring 112 of fastening bearing 110 of the first embodiment of the present invention: horizontally-sliding guide 10, flatly extends along the upper surface of the outer ring 111 of bearing 110; Vertically rail plate 20, vertically extends with horizontally-sliding guide 10, and vertically the lower end of rail plate 20 can be moved along horizontally-sliding guide 10; Pneumatic impact spanner fixture 30, can vertically slide on rail plate 20; Pneumatic impact spanner 40, is arranged on pneumatic impact spanner fixture 30, for fastening bolt 113; Vertically cylinder 50, for driving pneumatic impact spanner fixture 30 vertically slidably reciprocating on rail plate 20; Horizontal air cylinder 60, for driving vertical rail plate 20 to slide along horizontally-sliding guide 10.
It is upper that horizontally-sliding guide 10 is fixedly mounted in the rotatable outer ring (referring to Fig. 7) that becomes slurry bearing or go off course bearing, and have reaction abutment 11.Reaction abutment 11 can form with horizontally-sliding guide 10, also can separate formation with horizontally-sliding guide 10, and (for example, linking together by screw member) is then permanently connected together.Preferably, horizontally-sliding guide 10 and vertical rail plate 20 all can adopt spheroidal graphite cast-iron cast to form.Although in the present embodiment manipulator is arranged on the outer ring that can rotate with respect to inner ring of bearing, for the bolt on fastening bearing inner race, but the invention is not restricted to this,, manipulator also can be installed in can be with respect on the inner ring of outer ring rotation, for the bolt on fastener shaft bearing outer-ring.
In addition, although the location that adopts in an embodiment of the present invention the mode of horizontally-sliding guide and vertical rail plate and corresponding sliding component to realize pneumatic impact spanner, but the invention is not restricted to this, for example, the present invention can adopt such as ball-screw, rack-and-pinion, the such linear motion guidance device of roller track.
Vertically rail plate 20 can form L shaped shape.Specifically, vertically the bottom of rail plate 20 can be extended along horizontally-sliding guide 10, and can slide along horizontally-sliding guide 20.The cylinder part of horizontal air cylinder 60 can be bolted vertical portion or the horizontal component of vertical rail plate 20.
Pneumatic impact spanner fixture 30 comprises vertical slipper 31, retained part 32 and coupling part 33.Vertically slipper 31 can move along vertical rail plate 20.On retained part 32, be formed with the mating holes with pneumatic impact spanner 40.Retained part 32 is replaced the reaction arm of force that pneumatic impact spanner 40 is equipped with self, for clamping pneumatic spanner 40.For example, identical with the connected mode of the reaction arm of force with pneumatic impact spanner 40, retained part 32 can pass through spline joint with pneumatic impact spanner 40.As shown in Figures 2 and 3, in order to improve the chucking power of retained part 32 to pneumatic impact spanner 40, can on retained part 32, form slotted opening 34, the gap of this opening 34 can reduce by being fastened by screws, with firm grip pneumatic impact spanner 40.
As shown in Figures 2 and 3, on coupling part 33, can be formed with bearing 35.Bearing 35 can be connected with the piston rod external part of vertical cylinder 50.Vertically the cylinder body of cylinder 50 is connected to vertical rail plate 20.Preferably, be provided with cylinder installation portion 21 on the top of vertical rail plate 20, as shown in Figure 4, vertically the cylinder body of cylinder 50 is connected to cylinder installation portion 21.According to this structure, in the time that the piston rod of vertical cylinder 50 stretches, pneumatic impact spanner fixture 30 is driven to move along upright slide rail 20 by the piston rod of vertical cylinder 50, thereby drives pneumatic impact spanner 40 to move up and down.
As shown in Figure 1 and Figure 4, manipulator 100 also can comprise firm banking 12, and firm banking is arranged on the bottom of horizontally-sliding guide 10, for horizontally-sliding guide being arranged on to bearing outer ring 10.As shown in Figure 5, there is the backstay 13 of the bolt hole on the outer ring 111 for being inserted into bearing 110 in the bottom of firm banking 12.Lower end at backstay 13 can be formed with screw thread, thereby can use nut that manipulator 100 is fastened on the outer ring 111 of bearing 110.Preferably, firm banking 12 is connected by threaded fastener with horizontally-sliding guide 10.
In addition, be formed with at least one slotted hole 121 on firm banking 12, threaded fastener can be fastened to firm banking 12 on horizontally-sliding guide 10 through described slotted hole.By slotted hole 121 is set, adjustable mechanical hand 100 is in 111Shang installation site, the outer ring of bearing 110.
In addition in the part beyond the part being connected with firm banking 12,, rubber blanket 14 is installed on the bottom of horizontally-sliding guide 10.As shown in Figure 1, rubber blanket 14 can be positioned at the both sides of firm banking 12.In the time that the piston rod of horizontal air cylinder 60 stretches out from cylinder body, whole manipulator 100 can swing certain low-angle (about 2 degree) to circumferencial direction with respect to bearing tangential direction, rubber blanket 14 by above-mentioned setting can absorb this swing effectively, thereby contributes to reduce the wearing and tearing of horizontal air cylinder 60.
In addition, as shown in Figure 1, manipulator 100 also comprises control element installing plate 70, can be installed in control element installing plate 70 for the control element that pneumatic impact spanner 40, vertically cylinder 50 and horizontal air cylinder 60 are controlled, for level of control cylinder 60 and the vertically operation of the flexible and pneumatic impact spanner 40 of the piston rod of cylinder 50.Describe the control system of manipulator 100 and the action step of manipulator in detail below in conjunction with Fig. 6 to Figure 11.
As shown in Figure 6, described control system mainly comprises: compressed gas source 80, and the flat cylinder 60 of water supply, vertically cylinder 50 and pneumatic impact spanner 40 provide Compressed Gas; The first magnetic valve 61, is arranged between compressed gas source 80 and horizontal air cylinder 60, and utilizes magnetic switch to carry out the stroke of level of control cylinder 60; The second magnetic valve 51, is arranged between compressed gas source 80 and vertical cylinder 50, and utilizes the stroke of the vertical cylinder 50 of magnetic switch control; The 3rd magnetic valve 41, is arranged between compressed gas source 80 and gas control spanner 40, for controlling the operation of pneumatic impact spanner 40.Preferably, horizontal air cylinder 60 and vertical cylinder 50 are double-acting cylinders.Preferably, magnetic valve 61,62 and 63 can adopt direct pipe arrangement type 3 position-5 way magnetic valve.In addition,, for the pressure loss of compensation level cylinder 60 and vertical cylinder 50, can at arrival end and the port of export of each cylinder, flow speed control valve 52,53,62 and 63 be installed respectively.
As shown in Figure 6, control system also comprises for starting and the press button (not shown) of the control operation of stop control system, in the time starting the control of control system, the piston rod that makes the second magnetic valve 51 and the 3rd magnetic valve 41 control respectively vertical cylinder 50 stretches out and controls the fastening part rotation of pneumatic impact spanner 40.
As shown in Figure 6, described control system also comprises the pneumatic bigeminy part 81 and the residual voltage relief valve 82 that are connected with compressed gas source 80.Pneumatic bigeminy part 81 filters compressed air, to prevent that airborne dust from damaging magnetic valve and pneumatic executive item.Preferably, horizontal air cylinder 60 can adopt the cylinder of Φ 125, and vertically cylinder 50 can adopt the cylinder of Φ 50.
In addition, although magnetic valve 61 and 51 can be used for the stroke of control cylinder 60 and 50, but in order to make to be connected smoothly between the action step of manipulator, the first magnetic switch and the second magnetic switch (not shown) can be set on horizontal air cylinder 60, corresponding signal is exported to the related elements in control system by magnetic switch at extended position and the stop position of horizontal air cylinder 60.Also can the 3rd magnetic switch be set at the retracted position of vertical cylinder 50, so that corresponding signal is exported to the related elements in control system.The first control action to the 3rd magnetic switch will be described in detail in the following description.
Below in conjunction with Fig. 6 and describe the action step of manipulator 100 in detail with reference to Fig. 7 to Figure 11.
As shown in Figure 7, in original state, vertically cylinder 50 is raised (being in piston rod retract cylinder), and meanwhile, horizontal air cylinder 60 is also in contraction state, and pneumatic impact spanner 40 is vertically corresponding to the position of bolt to be tightened.
As shown in Figure 8, pressing the button after formula switch, make the VY4 of the second magnetic valve 51 and the VY5 of the 3rd magnetic valve 51 obtain electric, at this moment vertically cylinder 50 falls, pneumatic impact spanner 40 starts rotation simultaneously, beginning fastening bolt after pneumatic impact spanner 40 is rotated in place, fastening after output signal, make the VY2 of the first magnetic valve 61 and the VY6 of the 3rd magnetic valve 51 obtain electric.
As shown in Figure 9, VY2, VY6 obtain electric after, pneumatic impact spanner 40 stop action, horizontal air cylinder 60 moves simultaneously, and piston rod stretches out and promotes horizontally-sliding guide 10 by reaction abutment 11 and moves, after putting in place, magnetic switch 1 sends signal, makes the VY3 of the second magnetic valve 51 obtain electric.
As shown in figure 10, the VY3 of the second magnetic valve 51 obtain electric after, vertically cylinder 50 retraction piston rods, that is, mention pneumatic impact spanner 40.
As shown in figure 11, after vertically the piston rod retraction of cylinder 50 puts in place, the 3rd magnetic switch sends signal, make the VY1 of the first magnetic valve 61 obtain electric, thereby horizontal air cylinder 60 is retracted piston rod, drive vertical rail plate 20 and pneumatic impact spanner 40 to walk to next bolt top simultaneously, got back to so again above-described initial state.
In sum, tightening a bolt, manipulator 100 need to complete above 5 steps, and these 5 steps are a cycle period.
According to the fastening requirement of bearing bolt, generally divide 3 times, set 3 times moment values.Therefore, when manipulator screws 1 circle bolt, reach after the 1st moment values, reset the moment input value of pneumatic impact spanner, again screw 1 circle bolt.Equally, can carry out the 3rd time and screw bolt, finally reach the moment values of designing requirement.Above-mentioned fastening requirement can realize by magnetic valve is set.
Tighten the requirement of bearing bolt in order to meet diagonal angle, when concrete operations, adopt 2 manipulators synchronously to screw bolt, also improved operating efficiency simultaneously.
Describe the control system of utilizing magnetic valve and magnetic switch to control manipulator above in detail, but the invention is not restricted to this.
For example, also can adopt Pneumatic valve to replace magnetic valve and magnetic switch to form pneumatic circuit in conjunction with machine control valve controls the action of manipulator.
Figure 12 is the stereogram that manipulator 200 is according to a second embodiment of the present invention shown.According to the basic structure of the second manipulator 200 of the present invention, with similar according to the basic structure of the manipulator 100 of the first embodiment of the present invention, its difference is only the difference in control system, therefore, for simplicity, by the description of omitting same section.
As shown in figure 12, manipulator 200 can comprise Pneumatic valve and machine control valve, wherein, be respectively used to horizontal air cylinder 60, the vertically Pneumatic valve 61 of cylinder 50 and pneumatic impact spanner 40 ', 51 ' and 41 ' be installed on control element installing plate 70, stretch out and the first machine control valve 64 and the second machine control valve 65 of retraction signal preferably can be installed in horizontally-sliding guide 10 for the piston rod of transmit level cylinder 60, so that corresponding signal is passed to corresponding element, preferably can be installed in vertical rail plate for the 3rd machine control valve 52 that transmits the signal that vertical cylinder 50 retracted, so that corresponding signal is passed to corresponding element.
Describe the control procedure of utilizing Pneumatic valve and machine control valve to control the action of manipulator in detail below with reference to Figure 13.
As shown in figure 13, described control system comprises: compressed gas source 80, and the flat cylinder 60 of water supply, vertically cylinder 50 and pneumatic impact spanner 40 provide Compressed Gas; The first Pneumatic valve 61 ', be connected flexible for the piston rod of level of control cylinder 60 with compressed gas source 80; The second Pneumatic valve 51 ', be connected with compressed gas source 80, for controlling piston rod flexible of vertical cylinder 50; The 3rd Pneumatic valve 41 ', be connected with compressed gas source 80, for controlling the operation of pneumatic impact spanner 40; Hand-operated valve 83, for starting and the control of stop control system to manipulator 200.In the time pressing hand-operated valve 83 and start the control of control system, the second Pneumatic valve 51 is commutated and make the piston rod of vertical cylinder 50 stretch out and make the fastening part rotation of pneumatic impact spanner 40.Preferably, described control system also comprises shuttle valve 84, and this shuttle valve 84 can be between the first Pneumatic valve to the three Pneumatic valves and hand-operated valve 83, so that the first Pneumatic valve 61 ' to the 3rd Pneumatic valve 41 ' provide gas control signal to be provided by it.
Similar with the first embodiment, control system also can comprise pneumatic bigeminy part 81, residual voltage relief valve 82.Preferably, Pneumatic valve 41,51 and 61 can adopt five-way Pneumatic valve, and coordinates 3 machine control valves to control the action of manipulator 200 to form loop system.The concrete course of action of manipulator 200 is as follows:
In original state, vertically the piston rod of cylinder 50 is retracted in cylinder body, and the piston rod of horizontal air cylinder 60 is also retracted in cylinder body.When pressing after hand-operated valve 83 starts control system, compressed gas source 80 provides Compressed Gas, after filtering, pneumatic bigeminy part 81 is provided to control loop by shuttle valve 84, in the time that there is air pressure in loop, the fastening part of pneumatic impact spanner 40 slowly rotates, meanwhile, Pneumatic valve 51 ' commutation that the Compressed Gas control of supply is connected with vertical cylinder 50, releases the piston rod of vertical cylinder 50.
After vertically cylinder 50 is retracted, trigger after the 3rd other machine control valve 52, the three machine control valve 52 gas circuit conductings of vertical cylinder simultaneously, make the Pneumatic valve 61 ' commutation of level of control cylinder 60, thus horizontal air cylinder 61 ' piston rod retraction.At this moment, the sleeve head of pneumatic impact spanner 40 has moved to next bolt top.The piston rod of horizontal movement cylinder has triggered the second machine control valve 65 after retracting and putting in place, makes to control the Pneumatic valve 51 ' conducting of pneumatic impact spanner, and pneumatic impact spanner 40 starts again, prepares to start the fastening work of next bolt 113.
Preferably, machine control valve can adopt one-way rolling lever form.Trigger after roller when carrying the cylinder moving of feeler lever, the fixed support of roller triggers the trigger button of its below downwards, thereby can UNICOM's gas circuit.Structure and the using method thereof of the machine control valve of one-way rolling lever form are known, in this description to it by omission.
By above-mentioned be described clearly be, manipulator is controlled by the Pneumatic control circuit that adopts full Pneumatic control circuit or electrical bond according to an embodiment of the invention, can realize automatically moment is tightened and beaten to the multiple bolts on the interior week of large size bearing.
Manipulator, take compressed air as power source, by utilizing a set of slide construction assembly can realize bearings mounted bolt automatic fastening under the control of pneumatic circuit, and reaches the moment values of designing requirement according to an embodiment of the invention.
Although described one embodiment of the present of invention as an example of pneumatic impact spanner and atmospheric control example in above-described embodiment, but, the invention is not restricted to this, those skilled in the art can drive spanner (for example with fluid dynamic, spanner surges) and fluid driving control system (for example, hydraulic control system) realize according to manipulator of the present invention.For simplicity, by omission, to the detailed description with the similar hydraulic control system of atmospheric control, (for example,, in hydraulic control system, available pilot operated valve device replaces Pneumatic valve, available hydraulic source replaces compressed gas source, and available hydraulic magnetic valve replaces air-operated solenoid valve etc.).
In addition, also can adopt other controllable various types of autowrenches, such as electric wrench etc., and be not limited to pneumatic impact spanner or the spanner that surges.Correspondingly, can utilize the signal of telecommunication and also can realize the coordination control to autowrench and linear actuator element (comprising the parts that hydraulic cylinder, pneumatic cylinder, solenoid etc. can controllably stretch out and retract) in conjunction with fluid signal.
Manipulator has improved automaticity when wind power generating set bearing is installed according to an embodiment of the invention, and workman is improved in the operating efficiency that large size bearing is installed, and the both hands of at utmost liberating workman, reduce physical demands simultaneously.
In addition,, because control system of the present invention can accurately be controlled each step of manipulator, therefore can guarantee that each fastening operation carries out smoothly.
The invention is not restricted to above-described embodiment, without departing from the present invention, can carry out various changes and modifications.
Claims (21)
1. a manipulator, the bolt for fastening outer ring and inner ring on can counterrotating bearing, described manipulator comprises:
Horizontal guide, is installed on the inner ring or outer ring that can rotate of bearing, and has reaction abutment;
Vertically guiding piece, can slide along horizontal guide in its bottom;
Horizontal rectilinear motion executive component, is installed between reaction abutment and vertical guiding piece;
Autowrench, for fastening bolt;
Spanner fixture, has retained part and vertical slipper, and retained part is used for clamping autowrench, and vertically slipper can slide along vertical guiding piece;
Vertically linear actuator element, is installed between the linear actuator element installation portion and spanner fixture of vertical guiding piece, so that spanner fixture slides along vertical guiding piece vertically;
Control system, the operation of the flexible and autowrench of level of control linear actuator element and vertically linear actuator element.
2. manipulator as claimed in claim 1, is characterized in that, described horizontal guide is horizontally-sliding guide or flat spin member, and described vertical guiding piece is vertical rail plate or vertical spiral component.
3. manipulator as claimed in claim 2, is characterized in that, it is horizontal air cylinder that described horizontal rectilinear motion is carried out member, and described vertical straight line Motor execution member is vertical cylinder, and described autowrench is pneumatic impact spanner.
4. manipulator as claimed in claim 2, is characterized in that, it is horizontal hydraulic cylinder that described horizontal rectilinear motion is carried out member, and described vertical straight line Motor execution member is vertical hydraulic cylinder, and described autowrench is the spanner that surges.
5. manipulator as claimed in claim 2, is characterized in that, described autowrench is electric wrench.
6. the manipulator as described in any one in claim 2 to 5, is characterized in that, described manipulator also comprises firm banking, is arranged on the bottom of horizontal guide;
Rubber blanket, is arranged in the part beyond the part being connected with firm banking on the bottom of horizontal guide.
7. the manipulator as described in claim 3 or 4, is characterized in that, the cylinder body of described horizontal rectilinear motion executive component is connected to vertical guiding piece, and the external part of the piston rod of horizontal rectilinear motion executive component is connected to reaction abutment.
8. the manipulator as described in claim 3 or 4, it is characterized in that, described spanner fixture also comprises retained part and the interconnected coupling part of vertical slipper, vertically the external part of the piston rod of linear actuator element is connected to this coupling part, and vertically the cylinder body of linear actuator element is connected to the linear actuator element installation portion of vertical guiding piece.
9. manipulator as claimed in claim 1, is characterized in that, also comprises firm banking, is arranged on the bottom of horizontal guide, and horizontal guide is installed on the inner ring or outer ring that can rotate of bearing by this firm banking.
10. manipulator as claimed in claim 2, is characterized in that, described autowrench is that fluid dynamic drives spanner.
11. manipulators as claimed in claim 10, is characterized in that, described control system comprises:
Hydrodynamic source, water supply flat line Motor execution element, vertically linear actuator element and fluid dynamic drive spanner that drive fluid is provided;
The first magnetic valve, for the stroke of level of control linear actuator element;
The second magnetic valve, for controlling the stroke of vertical linear actuator element;
The 3rd magnetic valve, drives the operation of spanner for controlling fluid dynamic;
Press button, for starting and the control operation of stop control system, in the time starting the control of control system, the piston rod that makes the second magnetic valve and the 3rd magnetic valve control respectively vertical linear actuator element stretches out and controls fluid dynamic and drives the fastening part of spanner to rotate.
12. manipulators as claimed in claim 11, is characterized in that, described horizontal rectilinear motion executive component also comprises for generation of horizontal rectilinear motion executive component and stretch out predetermined stroke and the first magnetic switch and second magnetic switch of the signal of having retracted,
Described vertical linear actuator element also comprises the 3rd magnetic switch for generation of the signal that vertically linear actuator element has been retracted.
13. manipulators as claimed in claim 10, is characterized in that, described control system comprises:
Hydrodynamic source, water supply flat line Motor execution element, vertically linear actuator element and fluid dynamic drive spanner that drive fluid is provided;
First fluid control valve, is connected with hydrodynamic source, flexible for the piston rod of level of control linear actuator element;
Second fluid control valve, is connected with hydrodynamic source, for controlling piston rod flexible of vertical linear actuator element;
The 3rd control valve for fluids, is connected with hydrodynamic source, drives the operation of spanner for controlling fluid dynamic;
Hand-operated valve, for starting and the control of stop control system, in the time starting the control of control system, second fluid control valve commutated and the piston rod of vertical linear actuator element is stretched out, and making fluid dynamic drive the fastening part rotation of spanner by the 3rd control valve for fluids.
14. manipulators as described in any one in claim 11 to 13, is characterized in that, described control system also comprises:
The first flow speed control valve, for carrying out pressure compensation to horizontal rectilinear motion executive component;
The second flow speed control valve, for carrying out pressure compensation to vertical linear actuator element.
15. manipulators as claimed in claim 13, is characterized in that, described control system also comprises:
The first machine control valve, the horizontal rectilinear motion executive component that is stretched out predetermined stroke by piston rod triggers, so that second fluid control valve commutates and vertical linear actuator element is retracted;
The second machine control valve, the vertical linear actuator element of being retracted by piston rod triggers, so that first fluid control valve commutates and horizontal rectilinear motion executive component is retracted;
The 3rd machine control valve, the horizontal rectilinear motion executive component of being retracted by piston rod triggers, so that second fluid control valve commutation and the piston rod of vertical linear actuator element is stretched out, and make the 3rd control valve for fluids commutation and make fluid dynamic drive the fastening part rotation of spanner.
16. manipulators as described in any one in claim 11 to 13 and 15, it is characterized in that, control system is configured to: shut-down operation in the time that fluid dynamic drives spanner to reach predetermined torque to the Tightening moment of bolt, the piston rod of horizontal rectilinear motion executive component stretches out, to promote inner ring or the outer ring rotation of bearing by reaction abutment.
17. manipulators as claimed in claim 12, it is characterized in that, in the time that fluid dynamic drives spanner to reach predetermined torque to the Tightening moment of bolt, control system output electrical signals, to control the 3rd magnetic valve commutation, the fastening part of fluid dynamic driving spanner is stopped the rotation, and control the first magnetic valve commutation and the piston rod of horizontal rectilinear motion executive component is stretched out.
18. manipulators as claimed in claim 13, it is characterized in that, in the time that fluid dynamic drives spanner to reach predetermined torque to the Tightening moment of bolt, control system output feedback signal, oppositely make the fastening part of fluid dynamic driving spanner stop the rotation to control the 3rd control valve for fluids, and control the commutation of first fluid control valve and the piston rod of horizontal rectilinear motion executive component is stretched out.
19. manipulators as claimed in claim 12, it is characterized in that, control system is also configured to: when the piston rod of horizontal rectilinear motion executive component stretches out after predetermined stroke, the first magnetic switch is triggered so that the second magnetic valve commutates to control the piston rod retraction of vertical linear actuator element, drives spanner thereby mention fluid dynamic.
20. manipulators as claimed in claim 19, it is characterized in that, control system is also configured to: after the piston rod of vertical linear actuator element is retracted, trigger the 3rd magnetic switch and retract to control the first magnetic valve commutate piston rod of level of control linear actuator element, so that the fluid dynamic of manipulator drives spanner to move to the position of next bolt.
21. manipulators as claimed in claim 19, it is characterized in that, control system is also configured to: after the piston rod of horizontal rectilinear motion executive component is retracted, trigger the second magnetic switch so that the second magnetic valve commutation and the piston rod of vertical linear actuator element is stretched out, and make the 3rd magnetic valve commutation and make fluid dynamic drive the fastening part rotation of spanner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210023663.6A CN102581603B (en) | 2012-02-01 | 2012-02-01 | Manipulator |
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| CN201210023663.6A CN102581603B (en) | 2012-02-01 | 2012-02-01 | Manipulator |
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| CN102581603A CN102581603A (en) | 2012-07-18 |
| CN102581603B true CN102581603B (en) | 2014-05-14 |
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| CN103028937A (en) * | 2012-12-26 | 2013-04-10 | 山东泰山抽水蓄能电站有限责任公司 | Automatic locking switching device for ball valve overhaul sealing machinery |
| CN103419110B (en) * | 2013-08-30 | 2016-05-04 | 新疆金风科技股份有限公司 | Sanding apparatus |
| CN104044004B (en) * | 2014-05-23 | 2016-05-18 | 宁波大红鹰学院 | Machine slide case reciprocation cycle transmission device and method of work thereof |
| CN104148928A (en) * | 2014-08-13 | 2014-11-19 | 苏州博众精工科技有限公司 | Compressing mechanism |
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| CN104999257A (en) * | 2015-07-09 | 2015-10-28 | 上海市塑料研究所有限公司 | Assembly device and assembly method of hose component metal thread connecting piece |
| CN105537893B (en) * | 2015-12-05 | 2018-06-05 | 芜湖山野电器有限公司 | A kind of electric motorcar charging station is with screwing detection machine |
| CN106725660A (en) * | 2017-01-24 | 2017-05-31 | 刘晓君 | A kind of cardiac surgery operation assistor |
| CN107717371A (en) * | 2017-09-21 | 2018-02-23 | 温州职业技术学院 | Automotive engine loads onto the manipulator center of silk device |
| CN110153693B (en) * | 2019-05-14 | 2020-04-28 | 玉环市国达阀门有限公司 | Screwing machine for valve assembly |
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| CN102581603A (en) | 2012-07-18 |
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Address after: 830026 No. 107, Shanghai Road, Urumqi economic and Technological Development Zone, the Xinjiang Uygur Autonomous Region Patentee after: Jinfeng Technology Co.,Ltd. Address before: 830026 No. 107, Shanghai Road, Urumqi economic and Technological Development Zone, the Xinjiang Uygur Autonomous Region Patentee before: XINJIANG GOLDWIND SCIENCE & TECHNOLOGY Co.,Ltd. |