CN108857354A - A kind of the bolt and nut fastening system and its method of axial fan hub sharf bearing surface - Google Patents
A kind of the bolt and nut fastening system and its method of axial fan hub sharf bearing surface Download PDFInfo
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- CN108857354A CN108857354A CN201810436595.3A CN201810436595A CN108857354A CN 108857354 A CN108857354 A CN 108857354A CN 201810436595 A CN201810436595 A CN 201810436595A CN 108857354 A CN108857354 A CN 108857354A
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Classifications
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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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Abstract
The present invention a kind of the bolt and nut fastening system and its method of axial fan hub sharf bearing surface, are related to axial fan hub blade bearing mounting technique field.A kind of bolt and nut fastening system of axial fan hub sharf bearing surface of the present invention, including robot (1), automatic hydraulic stretcher (2), wheel hub turntable (3), control system (4) and safety assisting system are made up of mechatronics mode.By the automatic assembling production system of robot and the combination of automatic hydraulic stretcher, solve the key technologies such as accurate operation and the safety problem of the precise positioning and stretcher of robot.It realizes and bolt and nut fastening is carried out to the bolt of the sharf bearing surface of axial fan hub under the conditions of no manpower intervention, and it automatically corrects and the pretightning force for meeting its process requirement adjusting is provided for different model product, it raises labour productivity, the labor intensity and security risk for reducing operator, provide solid technology material base to further realize the automation of wind-powered electricity generation production operation mode.
Description
Technical Field
The invention relates to the technical field of fan hub blade bearing installation, in particular to a bolt and nut fastening system and method for a fan hub blade bearing surface based on a robot.
Background
At present, wind power equipment production enterprises generally adopt a manual assembly mode in the production process of wind power generation equipment, and workers continuously and repeatedly fasten bolts on blade bearings through a stretcher in the production process, so that high-efficiency low-cost automatic production cannot be realized. In addition, workers still need to stand in front of hydraulic cylinders and hydraulic hoses with the pressure of more than 100MPa, and great damage can be caused to the workers once leakage faults occur. According to investigation and analysis at home and abroad, including Wiskas of the largest wind power equipment supplier in the world, a similar robot adopting a 2D sensor vision system is designed, and due to the fact that high-precision problems and requirements such as tolerance chain length, large tolerance, difficult positioning and the like exist in a bolt and nut fastening and assembling link which cannot adapt to a fan hub blade bearing surface, for example, when bolts are fastened, a stretcher is required, the bolts are stretched after the stretcher is installed and work, then the nuts are tightened, and the stretcher is released, in the process, a fit clearance between a threaded sleeve and the bolts is controlled to be 0.2-0.3mm, even if a rotary table is made to be 0.1 degree in precision, 2 mm of straight line deviation can be generated on a working surface due to the fact that the radius of a hub is huge, and the condition is absolutely not allowed in the use of the stretcher. Therefore, how to achieve accurate positioning of the robot and accurate operation and safety of the stretcher becomes a key in the technical field.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings in the prior art and provides a bolt and nut fastening system and a bolt and nut fastening method for a bearing surface of a fan hub blade.
The invention relates to a bolt and nut fastening system for a bearing surface of a fan hub blade, which comprises a robot, an automatic hydraulic stretcher, a hub rotary table, a control system and a safety auxiliary system which are electrically connected through an electromechanical system.
The robot comprises a 6-axis industrial robot, a six-dimensional force sensor and a three-dimensional laser vision system.
The automatic hydraulic stretcher comprises an automatic stretcher, a robot flange connecting plate and a mechanical floating device in the Z-axis direction, so that mechanical feeding is realized. The automatic stretcher realizes automatic rotary drawing of a core and automatic nut tightening through 2 servo motors, and realizes automatic bolt drawing through modification of a hydraulic pump station. The whole control is realized by the PLC.
The nut sleeve is changed from a 6-degree shape to a 12-degree quincunx shape to facilitate alignment of the sleeve and the nut.
The pull core and the nut sleeve are controlled by a servo motor, a clamping shell which is possibly generated when the pull core is screwed in is prevented by torque control, and the screwing amount of the pull core is monitored by position control. If the screw-in bolt of the pull core is too shallow, a safety problem is caused during stretching.
The wheel hub rotary table comprises a rotary table framework, a rotary support, a gear box and a rotary control system, automatic face changing of the wheel hub is achieved, and repeated hoisting is avoided.
The control system adopts PLC as a main control core, signal interaction among all devices adopts a bus mode, safety signals are uniformly connected in a hard wire mode, an independent safety loop is designed to ensure the running safety of the system, and a set of human-computer interface is set up for carrying out unified scheduling and management on the operation of all the devices.
The mechanical floating device is a self-reset spring element which can still be normally led in under the condition that a bolt has certain deviation and is matched with an automatic hydraulic stretcher.
Wherein, the maximum opening angle of the floating ball is 3-5 degrees, 4 groups of springs are arranged at 4 weeks of the floating ball joint, so that the stretcher has self-resetting property.
Furthermore, the invention adopts a 3D sensor, because the 2D sensor can only carry out position compensation on the plane dimension, the 3D sensor can ensure the verticality of the stretcher and the working surface. And according to the location mode of 3D sensor after 2D sensor, adopt the 3D sensor to find the wheel hub plane through 3 points promptly, because processing and assembly reason, all bolts and theoretical position all can have the deviation of plus or minus 1mm, revise each bolt with the help of 2D sensor again.
The invention discloses a bolt and nut fastening system method for a bearing surface of a fan hub blade, which comprises the following operation steps of:
1) preparing, namely, back-tapping and cleaning bolt holes, installing a blade bearing, and manually assembling 60 bolts and matched nuts;
2) an operator lifts the hub by using the traveling crane, fixes the hub on the rotary table and guides the hub to be positioned by using a tool on the rotary table;
3) the robot utilizes a vision system to position a hub base plane, 3-4 characteristic points are predicted and selected for positioning, the rotation angles of the hub in the horizontal and vertical directions are found out, and the robot ensures that a 6-axis flange and the hub plane are parallel to each other during subsequent work through vision system operation and robot motion compensation;
4) the robot moves to the near point of the hub and finely positions the bolt by using a vision system;
5) the robot leans the hydraulic stretcher against the hub surface by using the feedback data obtained in 3) and 4);
6) the automatic hydraulic stretcher works;
7) move to the next bolt, i.e. the diagonal position of the current bolt;
7) and repeating the processes from 4) to 6) until all the bolts are fastened, and returning the robot to the original point.
The working operation steps of the automatic hydraulic stretcher are as follows:
1) self-checking and diagnosing the robot;
2) a robot test procedure;
3) returning the robot to the original point;
4) completing the operation preparation of the robot;
5) ensuring that the hub and the robot are both in a safe position;
6) the tool locks and positions the hub;
7) the robot moves to the hub;
8) visual system photographing & operational analysis;
9) the visual system gives the position offset of the central axis of the bolt;
10) centering compensation is carried out on the robot, so that the central axes of the stretcher and the bolt are coaxial;
11) moving the stretcher to a working point;
12) driving the bolt sleeve to screw the bolt;
13) the bolt sleeve continuously rotates until the feedback of 20 nm is detected, and the bolt sleeve stops screwing;
14) drive bolt sleeve reverse 1/4 revolutions;
15) driving a hydraulic cylinder of the stretcher to start stretching the bolt;
16) maintaining the pressure;
17) the nut sleeve is driven to be sleeved into the nut and screwed tightly under the action of the spring mechanism;
18) releasing the hydraulic pressure;
19) repeating the steps of 15-18;
20) confirming that a hydraulic cylinder of the stretcher is at an initial position;
21) driving the bolt sleeve to loosen the bolt;
22) the robot is moved out;
23) the robot moves to a next bolt;
24) when all the work is finished, the robot returns to the original point.
In summary, the bolt and nut fastening system for the bearing surfaces of the blades of the fan hub, disclosed by the invention, is based on an automatic assembly production system of a robot and is combined with an automatic hydraulic stretcher to realize bolt and nut fastening on the bolts on the bearing surfaces of the three blades of the fan hub under the condition of no manual intervention so as to replace the traditional manual operation.
Drawings
FIG. 1 is a schematic block diagram of a bolt and nut fastening system for a bearing surface of a fan hub blade according to the present invention;
FIG. 2 is a diagram illustrating the integration effect of the axis J6 of the robot according to the embodiment of the present invention;
FIG. 3 is a diagram of an automatic hydraulic tensioner according to an embodiment of the present invention;
FIG. 4 is a block diagram of a control system according to an embodiment of the present invention;
FIG. 5 is a schematic view of a mechanical float mechanism according to an embodiment of the present invention.
Detailed Description
The invention is further described in the following with reference to the figures and examples
The invention relates to a bolt and nut fastening system for a bearing surface of a fan hub blade (shown in figure 1), which comprises a robot 1, an automatic hydraulic stretcher 2, a hub rotary table 3, a control system 4 and a safety auxiliary system which are connected in an electromechanical connection mode.
Example (as shown in fig. 2), a Fanuc robot is used to stretch and fasten 60M 36 bolts of a blade bearing in conjunction with an automatic stretcher of an ITH. Wherein,
the robot 1 adopts Fanuc R2000iC-165F, the arm length is 2655mm, and the load is 165 kg.
The vision system employs Fanuc 3DL, 16mm lens, 2D mode with 130 million pixels capture capability.
The automatic hydraulic stretcher 2 (as shown in figure 3) comprises an ITH automatic stretcher, a robot flange connecting plate and a mechanical floating device.
The hub rotary table 3 comprises a rotary table framework, a rotary support, a gear box and a rotary control system.
The control system 4 adopts siemens S7-300PLC as a main control core (as shown in fig. 4), signal interaction among the devices adopts a Profibus bus mode, safety signals are connected in a hard wire mode, and an independent safety loop is designed to ensure the safety of system operation and establish a human-computer interface to carry out unified scheduling and management on the operation of the devices.
The mechanical float device (as shown in fig. 5) is a self-resetting spring mechanism that can still be normally introduced in conjunction with the automatic hydraulic tensioner 2 with a certain deviation of the bolt.
Wherein, the maximum opening angle of the floating ball is 3-5 degrees, 4 groups of springs are arranged at 4 weeks of the floating ball joint, so that the stretcher has self-resetting property.
And in the aspect of safety, a Sil 4-level system consisting of a fence, a door switch and a safety light curtain is adopted to ensure man-machine isolation.
The invention discloses a bolt and nut fastening system method for a bearing surface of a fan hub blade, which comprises the following operation steps of:
1) preparing, namely, back-tapping and cleaning bolt holes, installing a blade bearing, and manually assembling 60 bolts and matched nuts;
2) an operator lifts the hub by using the traveling crane, fixes the hub on the rotary table and guides the hub to be positioned by using a tool on the rotary table;
3) the robot utilizes a vision system to position a hub base plane, 3-4 characteristic points are predicted and selected for positioning, the rotation angles of the hub in the horizontal and vertical directions are found out, and the robot ensures that a 6-axis flange and the hub plane are parallel to each other during subsequent work through vision system operation and robot motion compensation;
4) the robot moves to the near point of the hub and finely positions the bolt by using a vision system;
5) the robot leans the hydraulic stretcher against the hub surface by using the feedback data obtained in 3) and 4);
6) the automatic hydraulic stretcher works;
7) move to the next bolt, i.e. the diagonal position of the current bolt;
7) and repeating the processes from 4) to 6) until all the bolts are fastened, and returning the robot to the original point.
Further, the automatic hydraulic stretcher working operation comprises the following steps:
1) self-checking and diagnosing the robot;
2) a robot test procedure;
3) returning the robot to the original point;
4) completing the operation preparation of the robot;
5) ensuring that the hub and the robot are both in a safe position;
6) the tool locks and positions the hub;
7) the robot moves to the hub;
8) visual system photographing & operational analysis;
9) the visual system gives the position offset of the central axis of the bolt;
10) centering compensation is carried out on the robot, so that the central axes of the stretcher and the bolt are coaxial;
11) moving the stretcher to a working point;
12) driving the bolt sleeve to screw the bolt;
13) the bolt sleeve continuously rotates until the feedback of 20 nm is detected, and the bolt sleeve stops screwing;
14) drive bolt sleeve reverse 1/4 revolutions;
15) driving a hydraulic cylinder of the stretcher to start stretching the bolt;
16) maintaining the pressure;
17) the nut sleeve is driven to be sleeved into the nut and screwed tightly under the action of the spring mechanism;
18) releasing the hydraulic pressure;
19) repeating the steps of 15-18;
20) confirming that a hydraulic cylinder of the stretcher is at an initial position;
21) driving the bolt sleeve to loosen the bolt;
22) the robot is moved out;
23) the robot moves to a next bolt;
24) when all the work is finished, the robot returns to the original point.
In conclusion, the bolt and nut fastening system for the bearing surface of the fan hub blade solves the key technologies of accurate positioning of the robot, accurate operation of the stretcher, safety problems and the like through the combination of the automatic assembly production system of the robot and the automatic hydraulic stretcher. The bolt and the nut of the bearing surface of the blade of the fan hub are fastened without manual intervention, pre-tightening force adjustment meeting the process requirements is provided for different types of products through automatic correction, the labor productivity is improved, the labor intensity and the safety risk of operators are reduced, and a solid technical material foundation is provided for further realizing automation of a wind power production operation mode.
Claims (4)
1. A bolt and nut fastening system for a bearing surface of a fan hub blade is characterized by comprising a robot (1), an automatic hydraulic stretcher (2), a hub rotary table (3), a control system (4) and a safety auxiliary system which are electrically connected through an electromechanical system;
the robot (1) comprises a 6-axis industrial robot, a six-dimensional force sensor and a three-dimensional laser vision system;
the automatic hydraulic stretcher (2) comprises an automatic stretcher, a robot flange connecting plate and a mechanical floating device;
the hub rotary table (3) comprises a rotary table framework, a rotary support, a gear box and a rotary control system;
the control system (4) adopts PLC as a main control core, signal interaction among all devices adopts a bus mode, safety signals are connected in a hard wire mode, an independent safety loop is designed to ensure the safety of system operation, and a set of man-machine interface is set up for the system to carry out unified scheduling and management on the operation of all the devices.
2. A bolt and nut fastening system for a bearing surface of a fan hub blade according to claim 1, wherein the mechanical floating means is a self-resetting spring mechanism that can be normally introduced in cooperation with an automatic hydraulic tensioner (2) even in the case of a certain deviation of a bolt;
wherein, the maximum opening angle of the floating ball is 3-5 degrees, 4 groups of springs are arranged at 4 weeks of the floating ball joint, so that the stretcher has self-resetting property.
3. The method for fastening a bolt and a nut on a bearing surface of a hub blade of a wind turbine according to claim 1, comprising the following steps:
1) preparing, namely, back-tapping and cleaning bolt holes, installing a blade bearing, and manually assembling 60 bolts and matched nuts;
2) an operator lifts the hub by using the traveling crane, fixes the hub on the rotary table and guides the hub to be positioned by using a tool on the rotary table;
3) the robot utilizes a vision system to position a hub base plane, 3-4 characteristic points are predicted and selected for positioning, the rotation angles of the hub in the horizontal and vertical directions are found out, and the robot ensures that a 6-axis flange and the hub plane are parallel to each other during subsequent work through vision system operation and robot motion compensation;
4) the robot moves to the near point of the hub and finely positions the bolt by using a vision system;
5) the robot leans the hydraulic stretcher against the hub surface by using the feedback data obtained in 3) and 4);
6) the automatic hydraulic stretcher works;
7) move to the next bolt, i.e. the diagonal position of the current bolt;
7) and repeating the processes from 4) to 6) until all the bolts are fastened, and returning the robot to the original point.
4. The method for bolt and nut tightening of bearing surfaces of wind turbine hubs and blades according to claim 3, wherein said 6) automatic hydraulic tensioner operation comprises the steps of:
1) self-checking and diagnosing the robot;
2) a robot test procedure;
3) returning the robot to the original point;
4) completing the operation preparation of the robot;
5) ensuring that the hub and the robot are both in a safe position;
6) the tool locks and positions the hub;
7) the robot moves to the hub;
8) visual system photographing & operational analysis;
9) the visual system gives the position offset of the central axis of the bolt;
10) centering compensation is carried out on the robot, so that the central axes of the stretcher and the bolt are coaxial;
11) moving the stretcher to a working point;
12) driving the bolt sleeve to screw the bolt;
13) the bolt sleeve continuously rotates until the feedback of 20 nm is detected, and the bolt sleeve stops screwing;
14) drive bolt sleeve reverse 1/4 revolutions;
15) driving a hydraulic cylinder of the stretcher to start stretching the bolt;
16) maintaining the pressure;
17) the nut sleeve is driven to be sleeved into the nut and screwed tightly under the action of the spring mechanism;
18) releasing the hydraulic pressure;
19) repeating the steps of 15-18;
20) confirming that a hydraulic cylinder of the stretcher is at an initial position;
21) driving the bolt sleeve to loosen the bolt;
22) the robot is moved out;
23) the robot moves to a next bolt;
24) when all the work is finished, the robot returns to the original point.
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| CN201810436595.3A CN108857354A (en) | 2018-05-09 | 2018-05-09 | A kind of the bolt and nut fastening system and its method of axial fan hub sharf bearing surface |
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| CN201810436595.3A CN108857354A (en) | 2018-05-09 | 2018-05-09 | A kind of the bolt and nut fastening system and its method of axial fan hub sharf bearing surface |
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Cited By (10)
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| CN110802620A (en) * | 2019-11-08 | 2020-02-18 | 东北大学 | End effector of heading machine tool-changing robot suitable for hobbing cutter box |
| CN110987932A (en) * | 2019-12-28 | 2020-04-10 | 成都行必果光电科技有限公司 | Automatic assembly coordinate vision measurement method |
| CN110986834A (en) * | 2019-12-28 | 2020-04-10 | 成都行必果光电科技有限公司 | Automatic assembly pipe penetration monitoring method |
| CN111168328A (en) * | 2020-01-13 | 2020-05-19 | 杭州戬威机电科技有限公司 | A kind of closed centrifugal fan processing method |
| 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 |
| CN114536817A (en) * | 2022-02-16 | 2022-05-27 | 中材科技（阜宁）风电叶片有限公司 | Method for taking out embedded bolts of wind power blades and automatic taking-out machine thereof |
| CN114888557A (en) * | 2022-05-27 | 2022-08-12 | 广东利元亨智能装备股份有限公司 | Nut locking method, nut locking device and operation control device |
| CN115122081A (en) * | 2021-03-26 | 2022-09-30 | 西门子歌美飒可再生能源公司 | tightening device |
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| CN116214164A (en) * | 2023-03-27 | 2023-06-06 | 西安航天发动机有限公司 | A vision system-guided automatic assembly system and method for a thrust device |
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| CN110802620A (en) * | 2019-11-08 | 2020-02-18 | 东北大学 | End effector of heading machine tool-changing robot suitable for hobbing cutter box |
| CN110802620B (en) * | 2019-11-08 | 2023-08-15 | 东北大学 | End effector of heading machine tool changing robot suitable for cutter roller box |
| CN110987932A (en) * | 2019-12-28 | 2020-04-10 | 成都行必果光电科技有限公司 | Automatic assembly coordinate vision measurement method |
| CN110986834A (en) * | 2019-12-28 | 2020-04-10 | 成都行必果光电科技有限公司 | Automatic assembly pipe penetration monitoring method |
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| CN115122081A (en) * | 2021-03-26 | 2022-09-30 | 西门子歌美飒可再生能源公司 | tightening device |
| CN115122081B (en) * | 2021-03-26 | 2024-10-29 | 西门子歌美飒可再生能源公司 | Tightening device |
| US12366229B2 (en) | 2021-03-26 | 2025-07-22 | Siemens Gamesa Renewable Energy A/S | Tightening device |
| CN114536817A (en) * | 2022-02-16 | 2022-05-27 | 中材科技（阜宁）风电叶片有限公司 | Method for taking out embedded bolts of wind power blades and automatic taking-out machine thereof |
| CN114536817B (en) * | 2022-02-16 | 2024-06-14 | 中材科技（阜宁）风电叶片有限公司 | Method for taking out embedded bolts of wind power blade and automatic taking-out machine thereof |
| CN114888557A (en) * | 2022-05-27 | 2022-08-12 | 广东利元亨智能装备股份有限公司 | Nut locking method, nut locking device and operation control device |
| CN115302235A (en) * | 2022-08-03 | 2022-11-08 | 新疆洁净能源技术研究院 | Wind-powered electricity generation bolt assembly robot system |
| CN115302235B (en) * | 2022-08-03 | 2023-10-13 | 新疆洁净能源技术研究院 | Wind-powered electricity generation bolt assembly robot system |
| CN116214164A (en) * | 2023-03-27 | 2023-06-06 | 西安航天发动机有限公司 | A vision system-guided automatic assembly system and method for a thrust device |
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