CN106475770A - Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system - Google Patents
Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system Download PDFInfo
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- CN106475770A CN106475770A CN201611148991.3A CN201611148991A CN106475770A CN 106475770 A CN106475770 A CN 106475770A CN 201611148991 A CN201611148991 A CN 201611148991A CN 106475770 A CN106475770 A CN 106475770A
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- robot
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- floating clamp
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of new theory and structure, the advanced technologies such as six-joint robot, vision system, electro-optical system, hydraulic pressure, pneumatic, SERVO CONTROL, Automated condtrol, network interconnection are combined, and a kind of large-scale wind electricity equipment king-bolt big nut robot are formed automatically clamping system：Including flexible floating clamp 1, six-joint robot 2, robot base 3, robot running gear 4, servo turntable 5, workpiece positioning clamping fixture 6, control system, intelligent hydraulic pumping plant 10 and safety barrier 22.With advantages below：1st, artificial, production efficiency height, production safety are replaced.2nd, assembling is quality controllable, and data automatic recording, quality document are automatically generated.3rd, remote monitoring and equipment debugging, control system outfit network interconnection function, administrative staff, technical staff and system equipment commissioning staff are not required to monitor at the scene and debugging.
Description
Technical field
The present invention relates to Automated assembly field, is king-bolt or big nut in a kind of assembling process for wind power equipment
Robot is automatically clamping system.
Background technology
As large-scale wind generating industry development is rapid, product specification is more and more, 1.5M, 2.0MW, 2.5MW, 3.0MW,
5MW, 6MW large fan emerges in an endless stream, and production lot is big, production task weight, the everyway such as assembly crewman's technical capability, physical efficiency
Face a severe test.
Especially in wind power equipment king-bolt, big nut assembly process, existing assembly tool are special to assembler's physical fitness requirement
Not high.At present, when large-scale wind electricity equipment, such as wheel hub, lower bearing bracket etc. install bearing, king-bolt, the assembling of big nut is tightly logical
Cross and manually operated using hydraulic spanner or hydraulic elongator, completing to tighten bolt operation to carry out three times repetitive operation,
And it is dangerous high.Torque beaten by one typhoon electricity boss bolt needs 4 one times of people, super-pressure, high pulling torque torque spanner pair
Operator safety threaten especially big, so being badly in need of uncontrollable to intricate operation, artificial high energy consumption, product quality, production efficiency
The low Resolving probiems of low, safety coefficient.
Content of the invention
For solving the above problems, the present invention proposes a kind of new theory and structure, by six-joint robot, vision system, light
The advanced technologies such as electric system, hydraulic pressure, pneumatic, SERVO CONTROL, Automated condtrol, network interconnection combine, and form a kind of large-scale wind
Electric equipment king-bolt big nut robot is automatically clamping system：
Including flexible floating clamp 1, six-joint robot 2, robot base 3, robot running gear 4, servo turntable 5,
Workpiece positioning clamping fixture 6, control system, intelligent hydraulic pumping plant 10 and safety barrier 22；
The flexibility floating clamp 1, including cabling pipeline 11, cabling pipeline support 12, fixture adpting flange 13, clamp body
14th, bracket for laser range finder 15, floating guiding bar 16, laser range finder 17, hydraulic spanner 18, industrial camera 19, spanner reset
Air cylinder support 20, spanner reset cylinder 21；Clamp body 14 is fixedly connected with six-joint robot 2 by fixture adpting flange 13, even
Link is connected by cabling pipeline 11；Laser range finder 17 measures flexible floating clamp 1 and the distance that treats component, is transferred to
Six-joint robot 2, for adjusting and determining the distance and position of flexible floating clamp 1；Industrial camera 19 measures flexible floating clamp 1
With the plan-position that treats component, robot 2 is transferred to, for adjusting and determining the plan-position of flexible floating clamp 1；Hydraulic pressure
Spanner 18 is the on-line operation part of flexible floating clamp 1, can be along 16 stretching motion of floating guiding bar；
The six-joint robot 2, is six axis joint robots, for installing flexible floating clamp 1, coordinates workpiece and fixture
Between position, flexible floating clamp 1 is sent to the operating position for setting；
The robot running gear 4, including guiderail base, line slideway, rack pinion system, servomotor and
The parts such as driver, sliding panel, guide rail protection, for installing six axis joint robots, and carry mobile robot accurately, quickly to move
Dynamic, program specified location is reached, expands robot opereating specification；
The servo turntable 5, mainly includes that turntable support, pivoting support, mold install back table with revolvable top, servomotor and drive
Dynamic device, panoramic table retaining mechanism, panoramic table to parts such as position detecting mechanism, panoramic table return-to-zero mechanisms, for installing wind power hub 7
Positioning clamping fixture, carry out indexing, lock according to processing request；
Described wheel hub 7 is one of critical component of wind-powered electricity generation, is the pending workpiece of the system；
The workpiece positioning clamping fixture 6, mainly includes mold body, detent mechanism, workpiece locking mechanism, arrives position detecting mechanism etc.
Part, the positioning for wind power hub 7 on servo turntable, clamping；
The control system, including general control system 9, robot control system 8, touch screen operation interface, for controlling
Each portion's group coordination operation, completes technological requirement and instructs, testing equipment parameters, with data record, remote monitoring and debugging,
The functions such as network interconnection；
The safety barrier 22, including safe fence, safe grating, fence gate safety switch；Equipment periphery is enclosed safely
Hurdle is enclosed, and disconnects the directly contact of personnel and equipment room；In artificial loading station cloth by fence gate and safety door latch, artificial loading
During operation, fence gate is opened, and robot stops all actions, protection operator and workpiece safety with servo turntable.
Described hydraulic spanner 18 can also be replaced by hydraulic elongator.
Advantage of the present invention：
1st, artificial, production efficiency height, production safety are replaced.
2nd, assembling is quality controllable, and data automatic recording, quality document are automatically generated.
3rd, remote monitoring and equipment debugging, control system are equipped with network interconnection function, administrative staff, technical staff and system
Equipment debugging personnel are not required to monitor at the scene and debugging.
Description of the drawings
Fig. 1 is that the three of present system composition regard design sketch.
Fig. 2 is present system side view.
Fig. 3 is present system top view.
Fig. 4 is present invention flexibility floating clamp assembling schematic diagram.
Specific embodiment
Embodiment one：
Including flexible floating clamp 1, six-joint robot 2, robot base 3, robot running gear 4, servo turntable 5,
Workpiece positioning clamping fixture 6, control system, intelligent hydraulic pumping plant 10 and safety barrier 22；
The flexibility floating clamp 1, including cabling pipeline 11, cabling pipeline support 12, fixture adpting flange 13, clamp body
14th, bracket for laser range finder 15, floating guiding bar 16, laser range finder 17, hydraulic spanner 18, industrial camera 19, spanner reset
Air cylinder support 20, spanner reset cylinder 21；Clamp body 14 is fixedly connected with six-joint robot 2 by fixture adpting flange 13, even
Link is connected by cabling pipeline 11；Laser range finder 17 measures flexible floating clamp 1 and the distance that treats component, is transferred to
Six-joint robot 2, for adjusting and determining the distance and position of flexible floating clamp 1；Industrial camera 19 measures flexible floating clamp 1
With the plan-position that treats component, robot 2 is transferred to, for adjusting and determining the plan-position of flexible floating clamp 1；Hydraulic pressure
Spanner 18 is the on-line operation part of flexible floating clamp 1, can be along 16 stretching motion of floating guiding bar；
The six-joint robot 2, is six axis joint robots, for installing flexible floating clamp 1, coordinates workpiece and fixture
Between position, flexible floating clamp 1 is sent to the operating position for setting；
The robot running gear 4, including guiderail base, line slideway, rack pinion system, servomotor and
The parts such as driver, sliding panel, guide rail protection, for installing six axis joint robots, and carry mobile robot accurately, quickly to move
Dynamic, program specified location is reached, expands robot opereating specification；
The servo turntable 5, mainly includes that turntable support, pivoting support, mold install back table with revolvable top, servomotor and drive
Dynamic device, panoramic table retaining mechanism, panoramic table to parts such as position detecting mechanism, panoramic table return-to-zero mechanisms, for installing wind power hub 7
Positioning clamping fixture, carry out indexing, lock according to processing request；
Described wheel hub 7 is one of critical component of wind-powered electricity generation, is the pending workpiece of the system；
The workpiece positioning clamping fixture 6, mainly includes mold body, detent mechanism, workpiece locking mechanism, arrives position detecting mechanism etc.
Part, the positioning for wind power hub 7 on servo turntable, clamping；
The control system, including general control system 9, robot control system 8, touch screen operation interface, for controlling
Each portion's group coordination operation, completes technological requirement and instructs, testing equipment parameters, with data record, remote monitoring and debugging,
The functions such as network interconnection；
The safety barrier 22, including safe fence, safe grating, fence gate safety switch；Equipment periphery is enclosed safely
Hurdle is enclosed, and disconnects the directly contact of personnel and equipment room；In artificial loading station cloth by fence gate and safety door latch, artificial loading
During operation, fence gate is opened, and robot stops all actions, protection operator and workpiece safety with servo turntable.
System work process is as follows：
Workpiece prepares：Under line by floating bearing on wheel hub 7, and load bolt (do not tighten, but put in place substantially).
Device power-up, workpiece information typing.
Artificial loading：Wheel hub 7 is installed on the numerical control rotating platform of left side.
Six-joint robot action：Six-joint robot F.F., cleaning workpiece, vision and Photoelectric Detection, load hydraulic spanner, press
Setting value tightens bolt, delay power extracts spanner out, is fast-forward to next bolt position and repeats above action, and two six-joint robots are symmetrical
Three times (can require to set), record bolt point position and a conjunction torque data are tightened in operation, bolt according to mounting process, are generated and are checked
Log file.
Numerical control rotating platform action：Workpiece revolution contraposition, is not directed at six-joint robot side bolt face is closed, and six-joint robot repeats
Above action.
Six-joint robot station is changed：Two six-joint robots move to right side numerical control rotating platform on robot running gear,
Numerical control rotating platform is coordinated to complete same left side numerical control rotating platform action.While left side numerical control rotating platform can manually blanking.
Embodiment two：Hydraulic elongator in embodiment one is replaced with hydraulic spanner, remaining with embodiment one, this
Scheme can be tightened to 7 bolt of wind power hub.
Embodiment three：Two servo turntables in embodiment one are changed to a servo turntable, are saved equipment purchase and becomes
This, the producer for being easy to output slightly smaller selects.
Embodiment four：Remove six axis joint robots on the basis of embodiment three, equipment cost can enter one
Step reduces.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, should all be included within the scope of the present invention.
Claims (2)
1. a kind of large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system, it is characterised in that include：Flexible floating
Fixture (1), six-joint robot (2), robot base (3), robot running gear (4), servo turntable (5), workpiece position tire
Tool (6), control system, intelligent hydraulic pumping plant (10) and safety barrier (22)；
Flexibility floating clamp (1), including cabling pipeline (11), cabling pipeline support (12), fixture adpting flange (13), folder
Specifically (14), bracket for laser range finder (15), floating guiding bar (16), laser range finder (17), hydraulic spanner (18), industrial phase
Machine (19), spanner reset cylinder support (20), spanner reset cylinder (21)；Clamp body (14) by fixture adpting flange (13) and
Six-joint robot (2) is fixedly connected, and connection line is connected by cabling pipeline (11)；Laser range finder (17) measurement is flexible to float
Fixture (1) and the distance for treating component, are transferred to six-joint robot (2), for adjust and determine flexible floating clamp (1) away from
Off normal and put；The flexible floating clamp (1) of industrial camera (19) measurement and the plan-position that treats component, are transferred to robot (2), use
In adjustment and the plan-position of the flexible floating clamp (1) of determination；Hydraulic spanner (18) is the on-line operation of flexible floating clamp (1)
Part, can be along floating guiding bar (16) stretching motion；
Six-joint robot (2), are six axis joint robots, for installing flexible floating clamp (1), coordinate workpiece and fixture
Between position, flexible floating clamp (1) is sent to the operating position for setting；
Robot running gear (4), including guiderail base, line slideway, rack pinion system, servomotor and drive
The parts such as dynamic device, sliding panel, guide rail protection, for installing six axis joint robots, and carry mobile robot accurate, quick mobile,
Arrival program specified location, expands robot opereating specification；
Servo turntable (5), mainly include that turntable support, pivoting support, mold install back table with revolvable top, servomotor and driving
Device, panoramic table retaining mechanism, panoramic table to parts such as position detecting mechanism, panoramic table return-to-zero mechanisms, for installing wind power hub (7)
Positioning clamping fixture, carry out indexing, lock according to processing request；Described wheel hub (7) is one of critical component of wind-powered electricity generation, is that this is
The pending workpiece of system；
Workpiece positioning clamping fixture (6), mainly include mold body, detent mechanism, workpiece locking mechanism, arrive the portions such as position detecting mechanism
Part, the positioning for wind power hub (7) on servo turntable, clamping；
The control system, including general control system (9), robot control system (8), touch screen operation interface, for controlling
Each portion's group coordination operation, completes technological requirement and instructs, testing equipment parameters, with data record, remote monitoring and debugging,
The functions such as network interconnection；
Safety barrier (22), including safe fence, safe grating, fence gate safety switch；Equipment periphery is by safe fence
Enclosed, disconnected the directly contact of personnel and equipment room；In artificial loading station cloth by fence gate and safety door latch, artificial loading is grasped
When making, fence gate is opened, and robot stops all actions, protection operator and workpiece safety with servo turntable.
2. automatically clamping system, its feature exists for large-scale wind electricity equipment king-bolt big nut robot according to claim 1
In described hydraulic spanner (18) is replaced by hydraulic elongator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611148991.3A CN106475770A (en) | 2016-12-14 | 2016-12-14 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611148991.3A CN106475770A (en) | 2016-12-14 | 2016-12-14 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
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| Publication Number | Publication Date |
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| CN106475770A true CN106475770A (en) | 2017-03-08 |
Family
ID=58285134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611148991.3A Pending CN106475770A (en) | 2016-12-14 | 2016-12-14 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237394A (en) * | 2018-02-15 | 2018-07-03 | 国电联合动力技术(赤峰)有限公司 | The automation installation equipment of wheel hub pitch variable bearings |
| CN108656104A (en) * | 2017-03-29 | 2018-10-16 | 上海宝钢工业技术服务有限公司 | The method for giving roll bearing repairing and oiling automatically using industrial robot |
| CN109060378A (en) * | 2018-09-14 | 2018-12-21 | 通标标准技术服务(上海)有限公司 | A kind of automatization test system rigidly tested for auto parts and components and its test method |
| CN109968013A (en) * | 2019-05-02 | 2019-07-05 | 国电联合动力技术(赤峰)有限公司 | Wind power hub assembly line system |
| CN109973337A (en) * | 2019-05-02 | 2019-07-05 | 国电联合动力技术(赤峰)有限公司 | Pitch variable bearings bolt hydraulic fastener |
| CN110978006A (en) * | 2019-12-18 | 2020-04-10 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| CN111487999A (en) * | 2020-04-23 | 2020-08-04 | 中国北方工业有限公司 | Turret servo and photoelectric servo cooperative control system and method |
| CN112130529A (en) * | 2020-08-31 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Force-sensing-based multi-assembly-station operation safety system and implementation method thereof |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
| CN113020957A (en) * | 2021-02-24 | 2021-06-25 | 东方电气集团科学技术研究院有限公司 | Automatic assembly production line and assembly method for bolt fastening of large gear box |
| CN113334071A (en) * | 2021-06-16 | 2021-09-03 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
| CN116117495A (en) * | 2022-12-25 | 2023-05-16 | 江苏中车电机有限公司 | Novel wind driven generator assembly bolt tightening device and tightening method |
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| KR20050005702A (en) * | 2003-07-07 | 2005-01-14 | 현대자동차주식회사 | A clamping apparatus |
| EP2633944A1 (en) * | 2010-10-25 | 2013-09-04 | Dalian Dexin M&E Technology Engineering Co. Ltd. | Double-shaft variable pitch electric bolt fastening machine |
| CN103962833A (en) * | 2014-04-28 | 2014-08-06 | 上海大学 | High-precision positioning automatic screwing system |
| CN204565597U (en) * | 2015-03-20 | 2015-08-19 | 张力 | A kind of lock screw Automated assembly machine people |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656104A (en) * | 2017-03-29 | 2018-10-16 | 上海宝钢工业技术服务有限公司 | The method for giving roll bearing repairing and oiling automatically using industrial robot |
| CN108237394A (en) * | 2018-02-15 | 2018-07-03 | 国电联合动力技术(赤峰)有限公司 | The automation installation equipment of wheel hub pitch variable bearings |
| CN109060378A (en) * | 2018-09-14 | 2018-12-21 | 通标标准技术服务(上海)有限公司 | A kind of automatization test system rigidly tested for auto parts and components and its test method |
| CN109968013A (en) * | 2019-05-02 | 2019-07-05 | 国电联合动力技术(赤峰)有限公司 | Wind power hub assembly line system |
| CN109973337A (en) * | 2019-05-02 | 2019-07-05 | 国电联合动力技术(赤峰)有限公司 | Pitch variable bearings bolt hydraulic fastener |
| CN110978006B (en) * | 2019-12-18 | 2021-09-28 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| CN110978006A (en) * | 2019-12-18 | 2020-04-10 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| CN111487999A (en) * | 2020-04-23 | 2020-08-04 | 中国北方工业有限公司 | Turret servo and photoelectric servo cooperative control system and method |
| CN111487999B (en) * | 2020-04-23 | 2021-06-08 | 中国北方工业有限公司 | Turret servo and photoelectric servo cooperative control system and method |
| CN112130529A (en) * | 2020-08-31 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Force-sensing-based multi-assembly-station operation safety system and implementation method thereof |
| CN113020957A (en) * | 2021-02-24 | 2021-06-25 | 东方电气集团科学技术研究院有限公司 | Automatic assembly production line and assembly method for bolt fastening of large gear box |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
| CN113334071A (en) * | 2021-06-16 | 2021-09-03 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
| CN113334071B (en) * | 2021-06-16 | 2022-05-17 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
| CN116117495A (en) * | 2022-12-25 | 2023-05-16 | 江苏中车电机有限公司 | Novel wind driven generator assembly bolt tightening device and tightening method |
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Application publication date: 20170308 |