CN109838350A - Wind turbines pitch variable bearings Intelligent assembly method - Google Patents
Wind turbines pitch variable bearings Intelligent assembly method Download PDFInfo
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- CN109838350A CN109838350A CN201910302553.5A CN201910302553A CN109838350A CN 109838350 A CN109838350 A CN 109838350A CN 201910302553 A CN201910302553 A CN 201910302553A CN 109838350 A CN109838350 A CN 109838350A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The present invention provides a kind of Wind turbines pitch variable bearings Intelligent assembly methods, it include: to be lifted on rotating platform to wheel hub, the main shaft connecting pin of wheel hub pushes elastic overturning positioning spigot, and it is installed in place under the guidance of elastic overturning positioning spigot, the main shaft connecting pin of the clamping pulley hub of elastic overturning positioning spigot overturning simultaneously, after chuck mechanism clamping, the first job face for the vision guide system automatic capturing wheel hub that rotating platform cooperates the mechanical arm tail end of industrial robot to carry, and then it is automatically found first bolt location that the working face needs to fasten；The electric tightening axle system carried by industrial robot tightens program by preset bolt and carries out substep fastening；After a working face bolt fastening, rotating platform rotates 120 degree of fastening work for carrying out next working face automatically, finishes until the bolt of three working faces all fastens.The accurate assembly and efficiently assembly that Intelligent assembly method of the invention realizes Wind turbines pitch variable bearings.
Description
Technical field
The present invention relates to wind-power electricity generation and intelligent Manufacturing Technology fields, more particularly to a kind of Wind turbines pitch variable bearings intelligence
It can assembly method.
Background technique
The assembly of Wind turbines pitch variable bearings is critical process indispensable in Wind turbines production process.With Wind turbines
Constantly enlargement development, the size of pitch variable bearings also will be increasing, and 3MW or more type is had to by certain altitude
Ladder could complete top bolt and tighten operation.Traditional assembly method is mostly manually to carry out bolt using hydraulic spanner to twist
Tightly, since pitch variable bearings fixing bolt quantity is more, operator's large labor intensity, working efficiency is low, and safe operation cannot also protect
Card such as cannot be required to intersect and diagonally be tightened according to technique, and there are hidden danger of quality.
Based on the above issues, occur being able to achieve the Wind turbines pitch variable bearings of pitch variable bearings automatic assembling in the prior art
Intelligent assembly platform, the Intelligent assembly platform by industrial robot drive tightening system to be located at rotating platform on wheel hub into
Row bolt tightens operation, and since hub periphery tool is there are three the pitch variable bearings installation end for being in 120 degree, bottom has a main shaft peace
End is filled, therefore, in order to realize the accurate positioning of manipulator, is needed first by the center of wheel hub and the rotating platform center of circle to just,
On the basis of this, after first pitch variable bearings installation end bolt is tightened, after rotating platform rotates 120 degree, adjacent second
A pitch variable bearings installation end could accurately in place (position of first pitch variable bearings installation end), therefore, the centralized positioning of wheel hub
It is most important for entire Intelligent assembly platform, and the rotating platform of existing Intelligent assembly platform, upper surface include three and are in
The outer diameter of 120 degree of positioning device, the circle that above three positioning device is formed is identical as the main shaft installation end internal diameter of wheel hub, wheel hub
Main shaft installation end during the decline, it is necessary to assure the center of wheel hub accurately matches with the center of circle of rotating platform and could install
In place, and wheel hub is large-scale plant, lifted by crane and positioned by crane, so often will appear when positioning and can not be accurately positioned or need more
It the problem of could being accurately positioned after secondary debugging, can not such as be accurately positioned, then will appear later period manipulator can not accurately find variable pitch accurately
The case where bearing installation end, largely effects on the working efficiency and assembly precision of entire Intelligent assembly platform, if you need to repeatedly debug,
It will affect the working efficiency of entire Intelligent assembly platform.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of efficient Wind turbines pitch variable bearings Intelligent assembly methods, make
It can guarantee lower to the installation accuracy requirement before wheel hub positioning while wheel hub is accurately positioned.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of Wind turbines pitch variable bearings Intelligent assembly method, for Wind turbines pitch variable bearings and wheel hub assembly bolt
Tighten, the assembly method be based on Wind turbines pitch variable bearings Intelligent assembly platform；
The Wind turbines pitch variable bearings Intelligent assembly platform, including industrial robot, robot ambulation axis, electric tightening
Axle system, rotating platform, sleeve hand-off work station and control system automatically；The industrial robot is mounted on robot ambulation axis
It can move above and along robot ambulation axis；The electric tightening axle system is mounted on the mechanical arm tail end of industrial robot；It is electronic
Tightening axle system includes the robot vision leading system that end has sleeved tightening portion and is mounted in tightening portion；The rotating platform
Upper surface be provided with the chuck mechanism of the main shaft connecting pin for stationary hub, the chuck mechanism includes determining for lead screw driving
Position device, the positioning device are provided with elastic overturning positioning spigot, and the elastic overturning positioning spigot is for the master with wheel hub
The cooperation positioning of axis connection end inner ring surface；There are three the chuck mechanisms, is arranged along rotating platform upper surface in 120 degree of intervals；Institute
State rotating platform and sleeve automatically hand-off station in the working range of industrial robot；The sleeve hand-off work automatically
It stands and uses sleeve for providing tightening for electric tightening axle system；The control system and industrial robot, electric tightening axle system,
The hand-off work station connection automatically of rotating platform, sleeve；
The assembly method are as follows:
It is lifted on rotating platform to wheel hub, the main shaft connecting pin of wheel hub pushes elastic overturning positioning spigot, in elasticity
Under the guidance for overturning positioning spigot, the main shaft connecting pin of wheel hub is installed in place and elastic overturning positioning spigot overturning clamping pulley hub
Main shaft connecting pin, after chuck mechanism clamping, rotating platform cooperation industrial robot mechanical arm tail end carry vision draw
The first job face of guiding systems automatic capturing wheel hub, and then it is automatically found first bolt position that the working face needs to fasten
It sets；
Before fastening bolt, control system first judges whether the sleeve of intelligent electric tightening axle system support is corresponding set
Cylinder, otherwise control system replaces required sleeve by the hand-off work station of sleeve automatically；
The electric tightening axle system carried after sleeve exchanging or after the sleeve that is judged as that no replacement is required by industrial robot
Program, which is tightened, by preset bolt carries out substep fastening；
After a working face bolt fastening, rotating platform rotates 120 degree automatically and carries out the tight of next working face
Gu work is finished until the bolt of three working faces all fastens.
It is further improved as the present invention, the mounting plate includes two assembly stations；When first station assembles
After the completion, it realizes that two stations automatically switch by robot ambulation axis, continues to complete the assembly of second station.
Further, before the wheel hub is clamped positioning, the work of different wheel hubs is first pre-defined according to product category
Make program；Start control system, read the two dimensional code for being assembled hub workpiece by barcode scanning gun first, control system is transferred automatically
For the working procedure of the wheel hub, the chuck mechanism on rotating platform automatically adjusts reference diameter to the wheel hub main shaft connecting pin
The fit dimension needed；Wheel hub is lifted on rotating platform through chuck mechanism clamping again.
Further, the vision guide system carries out 2D measurement to the bolt on wheel hub by program setting track, then
The offset between the base coordinate of the bolt and program setting on wheel hub is calculated, so as to adjust the appearance of electric tightening axle system
Gesture, and it is moved to first bolt location for needing to fasten.
Further, the electric tightening axle system is set and adjustment bolt tightening torque value automatically, and by being built in
The torque of torque sensor measurement reality output in electric tightening axle system, feeds back to control system, automatically saves as Excel
Table format.
Further, the positioning device includes that the fixing seat being fixedly connected with lead screw and the elastic overturning positioning stop
Mouthful；The elastic overturning positioning spigot includes two layers of ladder-like positioning spigot and spring pull rod；Two layers of ladder-like positioning stops
Mouth is hinged in fixing seat by shaft；The spring pull rod includes center pull rod and spring, and the center pull rod, which passes through, fixes
The vertical plate of rotating platform central side is leaned on seat, the center pull rod fixed sleeves positioned at vertical plate side connect the spring, are located at vertical plate
The center pull rod of the other side and two layers of ladder-like positioning spigot are hinged；The side positioning surface of two layers of ladder-like positioning spigot is
Arc surface, for cooperating with the main shaft connecting pin inner ring surface of wheel hub.
Further, branch is respectively arranged in the fan-shaped region between the positioning device of three, surface on the rotating platform
Support platform, height when a little higher than elastic overturning positioning spigot horizontality of the height of the support platform；The support platform
Upper surface be additionally provided with a plurality of plastics screening glass being disposed radially.
Further, the rotating platform includes platform base, pivoting support, driving mechanism, workbench；The revolution
On platform base, the workbench is fixed on pivoting support for supporting and fixing, and the chuck mechanism is fixed on workbench
On；The driving mechanism includes servomotor, gear reducer, driving pinion, the servomotor, gear reducer and driving pinion
It is sequentially connected；Rack gear is set on the pivoting support；The gear ring is engaged with driving pinion Dynamic Elastic；The driving machine
Structure is connect by flexible connector with platform base；The flexible connector includes mounting rack, connecting rod and spring, the installation
Frame is fixedly connected on the driving pinion output end face of driving mechanism；The connecting rod passes through the vertical plate on mounting rack, is located at
The connecting rod of vertical plate side is fixedly connected with platform base, and the connecting rod fixed sleeves positioned at the vertical plate other side connect the spring.
Further, hand-off work station includes pneumatic operated valve station, rack, cover board, cylinder, sleeve to the sleeve automatically；It is described
It is provided with formed between framework in rack, accommodates the sleeve in formed between framework；Formed between framework is stamped the cover board；The lid
Plate is opened or closed by the cylinder driving connecting with pneumatic operated valve station；The combination of the cylinder, cover board, formed between framework has more sets；
Compliant sleeve in each formed between framework is different；It is additionally provided with detection sensor in each formed between framework, in sleeve
Accommodating chamber side wall is additionally provided with pneumatic bolt, and the pneumatic bolt is connected to pneumatic operated valve station, and the pneumatic bolt is used for and set
The shaft shoulder engaging of cylinder；Be additionally provided with sleeve steering cone inside the formed between framework, sleeve steering cone for sleeve
Bolt cooperates face contact.
It further, further include the barcode scanning gun being connect with control system, described be assembled on wheel hub is provided with two dimensional code.
By adopting such a design, the present invention has at least the following advantages:
1, assembly method of the invention is based on Wind turbines pitch variable bearings Intelligent assembly platform, realizes Wind turbines variable pitch
The accurate assembly of bearing and efficiently assembly, while realizing different types of Wind turbines pitch variable bearings and automatically assembling.
2, by using elastic overturning positioning spigot, when so that wheel hub not installed, elastic overturning positioning spigot is made in elastic force
With lower in rollover states (central side is low, outside is high), the outer diameter that three positioning spigots are formed becomes smaller, and is conducive to the main shaft peace of wheel hub
It fills end to enter, be precisely aligned into preceding without the center of wheel hub and the center of rotating platform, into passing through elastic overturning in the process
Positioning spigot guidance adjustment hub centre alignment, after wheel hub falls in place, elastic overturning is positioned under the gravity of wheel hub
Seam allowance is flipped back to horizontality, and the side of elastic overturning positioning spigot is accurately bonded with the main shaft connecting pin inner ring surface of wheel hub, real
The accurate positioning of wheel hub is showed, and then the accurate assembly for realizing Intelligent assembly method and efficiently assembly.
3, the driving method that rotating platform uses gear ring to engage with driving pinion Dynamic Elastic, instead of conventional gear ring
The assembly precision requirement of gear ring and driving pinion is reduced by using aforesaid way with the fixed engagement of driving pinion,
Avoid the occurrence of the two normally can not effectively operate due to assembling improper caused driving.
4, hand-off work station can play protective separation work using the cover board for being controlled by cylinder opening and closing to sleeve to sleeve automatically
With, by way of pneumatic actuation gripper sleeve, substantially increase the success rate of sleeve exchanging, avoid sleeve can not with it is electronic
The problem of tightening axle is detached from and installs.
Detailed description of the invention
The above is merely an overview of the technical solutions of the present invention, in order to better understand the technical means of the present invention, below
In conjunction with attached drawing, the present invention is described in further detail with specific embodiment.
Fig. 1 is the top view of Wind turbines pitch variable bearings Intelligent assembly platform；
Fig. 2 is the perspective view of Wind turbines pitch variable bearings Intelligent assembly platform；
Fig. 3 is the top view of rotating platform；
Fig. 4 is the perspective view of rotating platform；
Fig. 5 is the perspective view of electric tightening axle system；
Fig. 6 is the perspective view of sleeve hand-off work station automatically；
Fig. 7 is the perspective view of security protection system；
Fig. 8 is the flow chart of Wind turbines pitch variable bearings Intelligent assembly method of the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Referring to Fig. 1 and Fig. 2, the invention mainly comprises components to have: industrial robot 1, robot ambulation axis 2, intelligent electric
Tighten axle system 3, rotating platform 4, control system 5, sleeve hand-off work station 6, security protection system 7 automatically.
Industrial robot 1 is mounted on robot ambulation axis 2, can be moved back and forth along robot ambulation axis 2, so as to not
It switches between same station, and lateral position is adjusted in process.
Since the lateral position of industrial robot 1 can be adjusted along robot ambulation axis 2, and industrial robot 1 itself
Mechanical arm have certain length, in Wind turbines pitch variable bearings Intelligent assembly platform provided by the invention, rotating platform 4
And the spatial position of sleeve hand-off work station 6 automatically is in the working range of industrial robot 1.
Fig. 3 and Fig. 4 shows the structure of rotating platform by different space angles respectively.Referring to fig. 4, rotating platform 4 is main
To have including component: platform base 41, pivoting support 42, driving mechanism 43, workbench 44, chuck mechanism 45, encoder 47,
Chemical bolt 48.Pivoting support 42, encoder 47 are each attached on platform base 41.The workbench 44 is fixed on revolution branch
It holds on 42, the chuck mechanism 45 is fixed on 44 upper surface of workbench.
There are three chuck mechanisms 45 on workbench 44, is arranged along 44 upper surface of workbench in 120 degree of intervals, chuck
45 radially adjustable of mechanism, the driving force of radiai adjustment is electronic, while can increase manual actuation mode as spare.Work is flat
Platform 44 is rotated horizontally using the driving of driving mechanism 43, to complete to the positioning of entire wheel hub and three face (pitch variable bearings peaces
Fill end) automatic rotation, every time rotate angle be 120 °.The initial zero position of rotating platform 4 is demarcated by encoder 47.
Chuck mechanism 45 includes the positioning device of lead screw driving, and positioning device includes the fixing seat being fixedly connected with lead screw
451 and elastic overturning positioning spigot, fixing seat 451 is provided with vertical plate 4511, elastic overturning positioning by rotating platform central side
Seam allowance includes two layers of ladder-like positioning spigot 452 and spring pull rod 453；Two layers of ladder-like positioning spigot 452 are cut with scissors by shaft 454
It connects in fixing seat 451；Spring pull rod 453 includes center pull rod and spring, and center pull rod, which passes through, leans on rotary flat in fixing seat 451
The vertical plate 4511 of platform central side, the center pull rod fixed sleeves positioned at 4511 side of vertical plate connect the spring, are located at vertical plate 4511
The center pull rod of the other side and two layers of ladder-like positioning spigot 452 are hinged；The side positioning surface of two layers of ladder-like positioning spigot 452
For arc surface, for the cooperation of the main shaft connecting pin inner ring surface of wheel hub.
It is positioned between positioning device and the main shaft connecting pin inner ring surface of wheel hub using elastic overturning positioning spigot, elastic overturning
The outer diameter for the circle that positioning spigot is formed can be preset by program, read hub workpiece two dimensional code according to barcode scanning gun and determined.For example,
When the main shaft connecting pin internal diameter for determining wheel hub to be assembled is 1 meter, positioning device passes through lead screw driving (i.e. guarantee bullet accurate in place
Property overturning positioning spigot when being in a horizontal state, the arc surface of three elastic overturning positioning spigots be formed by round outer diameter be 1
Rice), positioning device in place after, the installation of wheel hub can be carried out, when wheel hub is not installed, two layers of ladder-like positioning spigot 452 exist
Lower elastic force effect is in rollover states (central side is low, outside is high), and the outer diameter that three positioning spigots are formed becomes smaller (such as less than 1 meter),
The main shaft installation end for being conducive to wheel hub enters, and precisely aligns into preceding without the center of wheel hub and the center of rotating platform, enters
In the process by the two layers of ladder-like guidance of positioning spigot 452 adjustment hub centre alignment, after wheel hub falls in place, in wheel hub
Lower two layers ladder-like positioning spigot 452 of gravity are flipped back to horizontality (such as outer diameter is 1 meter), two layers of ladder-like positioning spigot
452 side (arc surface) is accurately bonded with the main shaft connecting pin inner ring surface of wheel hub, realizes the accurate positioning of wheel hub, Jin Ershi
The accurate assembly for having showed Intelligent assembly platform and efficiently assembly.
Workbench 44 is welded for structural steel elements, annealing after welding, reprocesses after eliminating stress.Table top is circle
Structure, for fixing chuck mechanism 45.Workbench 44 is fixed on pivoting support 42, and Intensity Design can guarantee that workpiece is turning round
It is reliable and stable under state.In addition, being respectively arranged in fan-shaped region between the positioning device of workbench 44 upper surface three
Support platform 441, height when a little higher than elastic overturning positioning spigot horizontality of the height of support platform 441.Wheel hub positioning
When, support platform provides support force for wheel hub, reduces the stress of positioning device, prolongs its service life.
It is additionally provided with a plurality of plastics screening glass 442 being disposed radially in the upper surface of support platform 441, is placed on wheel hub
When on rotating platform, the main shaft installation end for caning effectively protect wheel hub is not worn by the steel material on workbench surface.
Above-mentioned rotating platform is rotated by the driving of driving mechanism 43, wherein driving mechanism 43 mainly has including component: servo
Motor, speed reducer, driving pinion 431.The driving pinion 431 of driving mechanism 43 and the gear ring of pivoting support 42 are using elasticity
Dynamic engagement drives workbench 44 to rotate through pivoting support 42.Above-mentioned Dynamic Elastic engagement is realized in the following way:
Driving mechanism 43 is connect by flexible connector 46 with platform base 41；Flexible connector 46 includes mounting rack 461, connecting rod
462 and spring 463, mounting rack 461 be fixedly connected on 431 output end face of driving pinion of driving mechanism 43；Connecting rod 462
Vertical plate on mounting rack 461, the connecting rod positioned at vertical plate side are fixedly connected with platform base 41, are located at the vertical plate other side
Connecting rod fixed sleeves connect the spring 463.By the flexible adjustment of above-mentioned spring, it can be achieved that driving pinion 431 with return
The dynamic engagement for turning the gear ring of bearing 42 greatly reduces the assembly precision requirement of the two, drives adaptable.
Platform base 41 is the basis of equipment, is welded using steel plate and fashioned iron, has enough intensity and rigidity.Machine
The 41 postwelding integrally annealed of frame pedestal, thoroughly eliminates welding stress, revolving platform is made not deform in the long-term use.Revolution
Bearing 42 and driving mechanism 43 are fixed on platform base 41, and platform base 41 is fixed on foundation ground by chemical bolt 48
On.
For the configuration of electric tightening axle system 3 in the end of industrial robot 1, effect is that the bolt fastened to needs is twisted
Tightly.Referring to Fig. 5, electric tightening axle system 3 mainly has including component: electric tightening axle mandrel 31, the reaction arm of force 32, sleeve 33, view
Feel guidance system 34, rotary cylinder 35, flexible floating installation 36.
Specifically, referring to Fig. 5, the tightening portion of the electric tightening axle system 3 includes mounting bracket and is mounted on installation branch
Electric tightening axle mandrel 31, rotary cylinder 35, flexible floating installation 36 on frame.The end of the electric tightening axle mandrel 31 is equipped with described
Sleeve.It is set with gear wheel 38 at electric tightening axle mandrel 31 between sleeve and mounting bracket, is equipped on the gear wheel 38
The reaction arm of force 32.Described 35 one end of rotary cylinder is provided with the pinion gear 37 engaged with gear wheel 38.The flexible dress that floats
36 are set to be flexibly connected with use inside the mechanical arm of industrial robot.
Vision guide system 34 carries out 2D measurement to hub workpiece bolt by program setting track, then calculates wheel hub work
Offset between part bolt and the basic coordinates of program setting so as to adjust the posture of electric tightening axle mandrel 31, and is moved to
One bolt location for needing to fasten.Flexible floating installation 36 can solve machine using flexible connection with inside industrial robot 1
The problem of device people axis center and bolt-center bias makes flexible floating installation 36 stable action during fastening bolt.Rotation
Rotaring cylinder 35 is for pushing the 31 reaction arm of force 32 of electric tightening axle mandrel.
In addition, electric tightening axle system 3 is also configured with torque sensor.Electric tightening axle system 3 can set automatically and
Adjustment bolt tightening torque value, and by the torque of torque sensor measurement reality output, control system 5 is fed back to, it is automatic to protect
Exce l table format is saved as, later data analysis and data survey are facilitated.More traditional system using hydraulic spanner, it is electronic
It tightens axle system 31 and tightens precision and efficiency with higher, and there is dates back.
Fig. 6 shows the structure of sleeve provided by the invention hand-off work station automatically.Referring to Fig. 6, sleeve hand-off work automatically
Making station 6 mainly has including component: pneumatic operated valve station 61, rack 62, adjustment bracket 63, cover board 65, cylinder 66, sleeve 67.
Sleeve automatically hand-off work station 6 may include plurality of specifications sleeve, when industrial robot 1 is moved to corresponding station more
When changing sleeve, cylinder 66 pushes cover board 65 to open, and industrial robot 1 picks up corresponding sleeve, sleeve is taken away from station, covers
Plate 65 is closed, and can play the role of protective separation to sleeve.
More specifically, hand-off work station 6 includes pneumatic operated valve station 61, rack 62, cover board 65, cylinder to the sleeve automatically
66, sleeve 67.It is provided with formed between framework in the rack, accommodates the sleeve in formed between framework.Formed between framework is stamped
The cover board 65.The cover board 65 is opened or closed by the driving of cylinder 66 connecting with pneumatic operated valve station 61.The cylinder 66, cover board
67, the combination of formed between framework has more sets.Compliant sleeve in each formed between framework is different.
Detection sensor and sleeve steering cone 68 are additionally provided in each formed between framework, in formed between framework side wall
It is additionally provided with pneumatic bolt 64, pneumatic bolt 64 is connected to (not shown) with pneumatic operated valve station, when industrial robot places sleeve
When, pneumatic bolt 64 is in non-plugging state, and industrial robot by 67 sets of sleeve on sleeve steering cone 68, match by the bolt of sleeve
Conjunction face and sleeve steering cone 68 contacts, sleeve in place after, pneumatic bolt 64 be inserted into sleeve under the action of gas source at pneumatic operated valve station to be held
It receives intracavitary, engages with the shaft shoulder of sleeve, electric tightening axle mandrel is separated with sleeve, and the process of installation sleeve in contrast, repeats no more.
By way of pneumatic actuation gripper sleeve, the success rate of sleeve exchanging is substantially increased, avoiding sleeve can not twist with electronic
The problem of mandrel is detached from and installs.
62 bottom of rack is additionally provided with adjustment bracket 63, and the effect of adjustment bracket 63 is to adjust the height of rack 62
And balance.
Fig. 7 shows the structure of security protection system provided by the invention.Referring to Fig. 7, security protection system 7 mainly includes
Component has: safety guide rail 71, safe grating 72, safety door 73.
Security protection system 7 can effectively guarantee personnel safety, guarantee industrial robot 1 under working environment with personnel
It is isolated, realizes safety in production.
Safety guide rail 71 is set using steel wire, safety barrier 71 is inlayed among frame structure of aluminum alloy using split type
Meter, is fixed by connect-disconnect structure with ground, modularization installation, easy to disassemble, upgrading optimization.Safety door 73 is using safety
Door latch structure, as long as a certain station door lock is in the open state, generally in off-position in the station.Safe grating 72 is main
It is two stations of isolation, two stations is separated, avoid personnel in the region job, in addition the industrial robot in region
1, which maloperation occurs, reaches personnel's operating area or personnel and disobeys regulation, from intermediate channel to another region, to protect
Protect personnel safety.
The combination of the industrial robot 1, electric tightening axle system 3, rotating platform 4, sleeve hand-off work station 6 automatically has
It two sets, being arranged at intervals in safety guide rail 71 by safe grating 72, the safety door 73 is connect with safety guide rail 71, and
Using Structure of safety door lock.
Fig. 8 shows the flow chart of Wind turbines pitch variable bearings Intelligent assembly method.It is pre-defined according to product category
The working procedure of different hub workpieces, activation system.Referring to Fig. 8, Wind turbines pitch variable bearings Intelligent assembly method includes:
S81, reads the two dimensional code for being assembled hub workpiece by barcode scanning gun first, and control system is transferred automatically for the wheel
The working procedure of hub, the fit dimension that the chuck mechanism automatic adjustment reference diameter on rotating platform is needed to the wheel hub.
S82 is lifted on rotating platform to wheel hub, and the main shaft connecting pin of wheel hub pushes elastic overturning positioning spigot,
Under the guidance of elastic overturning positioning spigot, the main shaft connecting pin of wheel hub is installed in place and the overturning clamping of elastic overturning positioning spigot
The main shaft connecting pin of wheel hub, after chuck mechanism clamping, rotating platform cooperates the view of the mechanical arm tail end carrying of industrial robot
Feel the first job face of guidance system automatic capturing wheel hub, and then is automatically found first bolt that the working face needs to fasten
Position.
S83, before fastening bolt, control system first judges whether the sleeve of intelligent electric tightening axle system support is corresponding
Sleeve, otherwise control system replaces required sleeve by the hand-off work station of sleeve automatically.
S84, the electric tightening axle mandrel carried after sleeve exchanging or after the sleeve that is judged as that no replacement is required by industrial robot
System tightens program by preset bolt and carries out substep fastening.
So-called substep fastening, is exactly found often by the robot vision leading system 34 configured in electric tightening axle system 3 one by one
A bolt for needing to be fastened, and each bolt of discovery is fastened one by one.
S85, after a working face bolt fastening, rotating platform rotates 120 degree automatically and carries out next working face
Fastening work, until all fastening finishes for the bolts of three working faces.
After the completion of the work of the bolt fastening of the first station, industrial robot 1 is automatically moved into second station, completes this
The bolt fastening of one station works.
Assembly method of the invention is based on Wind turbines pitch variable bearings Intelligent assembly platform, realizes Wind turbines pitch axis
The accurate assembly held and efficiently assembly, while realizing different types of Wind turbines pitch variable bearings and automatically assembling.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, this
Field technical staff makes a little simple modification, equivalent variations or modification using the technology contents of the disclosure above, all falls within this hair
In bright protection scope.
Claims (10)
1. Wind turbines pitch variable bearings Intelligent assembly method, for twisting for Wind turbines pitch variable bearings and wheel hub assembly bolt
Tightly, which is characterized in that the assembly method is based on Wind turbines pitch variable bearings Intelligent assembly platform；
The Wind turbines pitch variable bearings Intelligent assembly platform, including industrial robot, robot ambulation axis, electric tightening shafting
System, rotating platform, sleeve hand-off work station and control system automatically；The industrial robot is mounted on robot ambulation axis simultaneously
It can be moved along robot ambulation axis；The electric tightening axle system is mounted on the mechanical arm tail end of industrial robot；Electric tightening
Axle system includes the robot vision leading system that end has sleeved tightening portion and is mounted in tightening portion；The rotating platform it is upper
Surface is provided with the chuck mechanism of the main shaft connecting pin for stationary hub, and the chuck mechanism includes the positioning dress of lead screw driving
It sets, the positioning device is provided with elastic overturning positioning spigot, and the elastic overturning positioning spigot is used to connect with the main shaft of wheel hub
Connect end inner ring surface cooperation positioning；There are three the chuck mechanisms, is arranged along rotating platform upper surface in 120 degree of intervals；The rotation
Turn platform and sleeve automatically hand-off station in the working range of industrial robot；The sleeve automatically use by hand-off work station
Sleeve is used in providing tightening for electric tightening axle system；The control system and industrial robot, electric tightening axle system, rotation
The hand-off work station connection automatically of platform, sleeve；
The assembly method are as follows:
It is lifted on rotating platform to wheel hub, the main shaft connecting pin of wheel hub pushes elastic overturning positioning spigot, in elastic overturning
Under the guidance of positioning spigot, the main shaft connecting pin of wheel hub is installed in place and the master of elastic overturning positioning spigot overturning clamping pulley hub
Axis connection end, after chuck mechanism clamping, rotating platform cooperates the vision guide system of the mechanical arm tail end carrying of industrial robot
The first job face of system automatic capturing wheel hub, and then it is automatically found first bolt location that the working face needs to fasten；
Before fastening bolt, control system first judges whether the sleeve of intelligent electric tightening axle system support is corresponding sleeve, no
Then control system replaces required sleeve by the hand-off work station of sleeve automatically；
The electric tightening axle system carried after sleeve exchanging or after the sleeve that is judged as that no replacement is required by industrial robot is by pre-
The bolt first set tightens program and carries out substep fastening；
After a working face bolt fastening, rotating platform rotates 120 degree of fastening works for carrying out next working face automatically
Make, is finished until the bolt of three working faces all fastens.
2. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that the mounting plate
Including two assembly stations；When first station after the assembly is completed, realize that two stations automatically switch by robot ambulation axis,
Continue to complete the assembly of second station.
3. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that in the wheel hub quilt
Before clamping positioning, the working procedure of different wheel hubs is first pre-defined according to product category；Start control system, first by sweeping
Code rifle reads the two dimensional code for being assembled hub workpiece, and control system transfers the working procedure for the wheel hub, rotating platform automatically
On the fit dimension that is needed to the wheel hub main shaft connecting pin of chuck mechanism automatic adjustment reference diameter；Wheel hub is lifted into again
Pass through chuck mechanism clamping on rotating platform.
4. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that the vision guide
System carries out 2D measurement to the bolt on wheel hub by program setting track, then calculates bolt on wheel hub and program setting
Offset between base coordinate so as to adjust the posture of electric tightening axle system, and is moved to first spiral shell for needing to fasten
Bolt position.
5. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that the electric tightening
Axle system is set automatically and adjustment bolt tightening torque value, and the torque sensor by being built in electric tightening axle system is surveyed
The torque for determining reality output, feeds back to control system, automatically saves as Excel table format.
6. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that the positioning device
Including the fixing seat being fixedly connected with lead screw and the elastic overturning positioning spigot；
The elastic overturning positioning spigot includes two layers of ladder-like positioning spigot and spring pull rod；Two layers of ladder-like positioning stops
Mouth is hinged in fixing seat by shaft；The spring pull rod includes center pull rod and spring, and the center pull rod, which passes through, fixes
The vertical plate of rotating platform central side is leaned on seat, the center pull rod fixed sleeves positioned at vertical plate side connect the spring, are located at vertical plate
The center pull rod of the other side and two layers of ladder-like positioning spigot are hinged；The side positioning surface of two layers of ladder-like positioning spigot is
Arc surface, for cooperating with the main shaft connecting pin inner ring surface of wheel hub.
7. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that on the rotating platform
It is respectively arranged with support platform in fan-shaped region between the positioning device of three, surface, the height of the support platform is slightly higher
Height when elastic overturning positioning spigot horizontality；The upper surface of the support platform is additionally provided with a plurality of be disposed radially
Plastics screening glass.
8. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that the rotating platform
Including platform base, pivoting support, driving mechanism, workbench；
The pivoting support is fixed on platform base, and the workbench is fixed on pivoting support, and the chuck mechanism is solid
It is scheduled on workbench；
The driving mechanism includes servomotor, gear reducer, driving pinion, the servomotor, gear reducer and the small tooth of driving
Wheel is sequentially connected；Rack gear is set on the pivoting support；The gear ring is engaged with driving pinion Dynamic Elastic；
The driving mechanism is connect by flexible connector with platform base；The flexible connector includes mounting rack, connecting rod
And spring, the mounting rack are fixedly connected on the driving pinion output end face of driving mechanism；The connecting rod passes through installation
Vertical plate on frame, the connecting rod positioned at vertical plate side are fixedly connected with platform base, solid outside the connecting rod of the vertical plate other side
Surely it is socketed the spring.
9. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that the sleeve is automatic
Hand-off work station includes pneumatic operated valve station, rack, cover board, cylinder, sleeve；
It is provided with formed between framework in the rack, accommodates the sleeve in formed between framework；Formed between framework is stamped the lid
Plate；The cover board is opened or closed by the cylinder driving connecting with pneumatic operated valve station；The cylinder, cover board, formed between framework group
Conjunction has more sets；Compliant sleeve in each formed between framework is different；
It is additionally provided with detection sensor in each formed between framework, is additionally provided with pneumatic bolt in formed between framework side wall,
The pneumatic bolt is connected to pneumatic operated valve station, and the pneumatic bolt with the shaft shoulder of sleeve for engaging；
Sleeve steering cone is additionally provided with inside the formed between framework, the sleeve steering cone is for the bolt mating surface with sleeve
Contact.
10. Wind turbines pitch variable bearings Intelligent assembly method according to claim 1, which is characterized in that further include and control
The barcode scanning gun of system connection processed, described be assembled on wheel hub are provided with two dimensional code.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302553.5A CN109838350B (en) | 2019-04-16 | 2019-04-16 | Intelligent assembling method for variable-pitch bearing of wind turbine generator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302553.5A CN109838350B (en) | 2019-04-16 | 2019-04-16 | Intelligent assembling method for variable-pitch bearing of wind turbine generator |
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| Publication Number | Publication Date |
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| CN109838350A true CN109838350A (en) | 2019-06-04 |
| CN109838350B CN109838350B (en) | 2020-04-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
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| CN103423101A (en) * | 2012-05-21 | 2013-12-04 | 歌美飒创新技术公司 | Pitch bearing with a gear segment in a wind turbine |
| CN107559137A (en) * | 2016-06-30 | 2018-01-09 | 西门子公司 | The method for manipulating wind turbine rotor blade pitch variable bearings unit |
| CN108705273A (en) * | 2018-05-31 | 2018-10-26 | 新疆金风科技股份有限公司 | For the assemble hub and tooling of pitch variable bearings, tool component and assemble method |
| EP3428449A1 (en) * | 2017-07-11 | 2019-01-16 | General Electric Company | Clamping apparatus for positioning a main bearing of a wind turbine during an installation and/or repair procedure |
| CN109611273A (en) * | 2018-11-20 | 2019-04-12 | 上海致远绿色能源股份有限公司 | The synchronous vane change device of three guide rods of one kind and its assembly method |
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|---|---|---|---|---|
| CN103423101A (en) * | 2012-05-21 | 2013-12-04 | 歌美飒创新技术公司 | Pitch bearing with a gear segment in a wind turbine |
| CN107559137A (en) * | 2016-06-30 | 2018-01-09 | 西门子公司 | The method for manipulating wind turbine rotor blade pitch variable bearings unit |
| EP3428449A1 (en) * | 2017-07-11 | 2019-01-16 | General Electric Company | Clamping apparatus for positioning a main bearing of a wind turbine during an installation and/or repair procedure |
| CN108705273A (en) * | 2018-05-31 | 2018-10-26 | 新疆金风科技股份有限公司 | For the assemble hub and tooling of pitch variable bearings, tool component and assemble method |
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| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
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| CN109838350B (en) | 2020-04-28 |
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