CN109838350B - Intelligent assembling method for variable-pitch bearing of wind turbine generator - Google Patents
Intelligent assembling method for variable-pitch bearing of wind turbine generator Download PDFInfo
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- CN109838350B CN109838350B CN201910302553.5A CN201910302553A CN109838350B CN 109838350 B CN109838350 B CN 109838350B CN 201910302553 A CN201910302553 A CN 201910302553A CN 109838350 B CN109838350 B CN 109838350B
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Abstract
The invention provides an intelligent assembling method for a variable-pitch bearing of a wind turbine generator, which comprises the following steps: after the wheel hub is hoisted to the rotating platform, the main shaft connecting end of the wheel hub presses the elastic overturning positioning spigot downwards and is installed in place under the guide of the elastic overturning positioning spigot, meanwhile, the elastic overturning positioning spigot overturns and clamps the main shaft connecting end of the wheel hub, and after being clamped by the chuck mechanism, the rotating platform is matched with a vision guide system carried by the tail end of a mechanical arm of an industrial robot to automatically align a first working surface of the wheel hub, and then the position of a first bolt needing to be fastened on the working surface is automatically found; an electric tightening shaft system carried by an industrial robot carries out step-by-step tightening according to a preset bolt tightening program; after the bolts of one working face are fastened, the rotary platform automatically rotates by 120 degrees to fasten the next working face until the bolts of the three working faces are fastened completely. The intelligent assembling method realizes the accurate assembly and the efficient assembly of the variable-pitch bearing of the wind turbine generator.
Description
Technical Field
The invention relates to the technical field of wind power generation and intelligent manufacturing, in particular to an intelligent assembling method for a variable pitch bearing of a wind turbine generator.
Background
The assembling of the pitch bearing of the wind turbine generator is a key process necessary in the production process of the wind turbine generator. Along with the continuous macro-scale development of wind turbine generator system, the size of becoming oar bearing will also be bigger and bigger, just can accomplish the top bolt tightening operation with the help of the ladder of certain height to model more than 3 MW. The traditional assembly mode is that bolts are screwed up by using a hydraulic wrench manually, and because the number of the variable-pitch bearing fixing bolts is large, the labor intensity of an operator is high, the working efficiency is low, the operation safety can not be ensured, and if the bolts can not be screwed up in the opposite angles in a crossing way according to the process requirements, the potential quality hazard exists.
Based on the above problems, the prior art provides an intelligent assembling platform for a pitch bearing of a wind turbine generator, which can realize automatic assembling of the pitch bearing, and the intelligent assembling platform drives a tightening system to bolt a hub on a rotary platform through an industrial robot, because the periphery of the hub is provided with three 120-degree pitch bearing mounting ends and the bottom is provided with a main shaft mounting end, in order to realize accurate positioning of a manipulator, the center of the hub needs to be aligned with the center of the rotary platform, on the basis, after the first pitch bearing mounting end is screwed with a bolt, the rotary platform rotates 120 degrees, the adjacent second pitch bearing mounting end can be accurately positioned (the position of the first pitch bearing mounting end), therefore, the center positioning of the hub is crucial to the whole intelligent assembling platform, and the rotary platform of the existing intelligent assembling platform, the upper surface includes three 120 degrees positioner that are, the external diameter of the circle that above-mentioned three positioner formed is the same with wheel hub's main shaft installation end internal diameter, wheel hub's main shaft installation end is at the in-process that descends, must guarantee that wheel hub's center and rotary platform's centre of a circle exact match just can install in place, and wheel hub is large-scale device, hoist by the crane and fix a position, so can often appear unable accurate positioning or need debug the problem that just can accurate positioning after many times during the location, if unable accurate positioning, the unable accurate condition of finding the oar bearing installation end of later stage manipulator can appear, influence whole intelligent assembly platform's work efficiency and assembly precision greatly, if need debug many times, also will influence whole intelligent assembly platform's work efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of providing an efficient intelligent assembling method for a variable-pitch bearing of a wind turbine generator, which can ensure that the requirement on the installation precision of a hub before the hub is positioned is low while the hub is accurately positioned.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent assembling method for a variable-pitch bearing of a wind turbine generator is used for screwing a bolt for assembling the variable-pitch bearing of the wind turbine generator and a hub, and is based on an intelligent assembling platform for the variable-pitch bearing of the wind turbine generator;
the intelligent assembling platform for the variable-pitch bearing of the wind turbine generator comprises an industrial robot, a robot walking shaft, an electric tightening shaft system, a rotating platform, an automatic sleeve-changing workstation and a control system; the industrial robot is arranged on the robot walking shaft and can move along the robot walking shaft; the electric tightening shaft system is arranged at the tail end of a mechanical arm of the industrial robot; the electric tightening shaft system comprises a tightening part with a sleeve at the tail end and a visual guide system arranged on the tightening part; the upper surface of the rotating platform is provided with a chuck mechanism for fixing a main shaft connecting end of the hub, the chuck mechanism comprises a positioning device driven by a lead screw, the positioning device is provided with an elastic overturning positioning spigot, and the elastic overturning positioning spigot is used for being matched and positioned with an inner annular surface of the main shaft connecting end of the hub; three chuck mechanisms are arranged at intervals of 120 degrees along the upper surface of the rotating platform; the automatic rotary platform and sleeve handoff workstation is positioned in the working range of the industrial robot; the automatic sleeve-switching workstation is used for providing a sleeve for screwing the electric screwing shaft system; the control system is connected with an industrial robot, an electric tightening shaft system, a rotating platform and an automatic sleeve-changing workstation;
the assembling method comprises the following steps:
after the wheel hub is hoisted to the rotating platform, the main shaft connecting end of the wheel hub presses the elastic overturning and positioning spigot downwards, under the guide of the elastic overturning and positioning spigot, the main shaft connecting end of the wheel hub is installed in place and the elastic overturning and positioning spigot overturns and clamps the main shaft connecting end of the wheel hub, after being clamped by the chuck mechanism, the rotating platform automatically aligns a first working surface of the wheel hub by matching with a vision guide system carried by the tail end of a mechanical arm of an industrial robot, and then automatically finds a first bolt position needing to be fastened of the working surface;
before fastening the bolt, the control system judges whether a sleeve matched with the intelligent electric tightening shaft system is a corresponding sleeve or not, otherwise, the control system automatically replaces the required sleeve through a sleeve replacing workstation;
after the sleeve is replaced or after the sleeve does not need to be replaced, an electric tightening shaft system carried by the industrial robot is used for tightening step by step according to a preset bolt tightening program;
after the bolts of one working face are fastened, the rotary platform automatically rotates by 120 degrees to fasten the next working face until the bolts of the three working faces are fastened completely.
As a further improvement of the invention, the assembly platform comprises two assembly stations; after the assembly of the first station is completed, the automatic switching of the two stations is realized through the walking shaft of the robot, and the assembly of the second station is continuously completed.
Further, before the hub is clamped and positioned, working procedures of different hubs are predefined according to product categories; starting a control system, firstly reading a two-dimensional code of an assembled hub workpiece through a code scanning gun, automatically calling a working program for the hub by the control system, and automatically adjusting the diameter of a reference circle to a required matching size of a connecting end of a hub spindle by a chuck mechanism on a rotary platform; and then the hub is hoisted to the rotating platform and is clamped by the chuck mechanism.
Further, the vision guiding system measures the bolts on the hub in a 2D mode according to a programmed track, and then calculates the offset between the bolts on the hub and programmed basic coordinates, so that the posture of the electric tightening shaft system is adjusted, and the electric tightening shaft system moves to the first bolt position needing to be fastened.
Further, the electric tightening shaft system automatically sets and adjusts a bolt fastening torque value, measures an actually output torque through a torque sensor built in the electric tightening shaft system, feeds the actually output torque back to the control system, and automatically stores the actually output torque in an Excel table format.
Furthermore, the positioning device comprises a fixed seat fixedly connected with the lead screw and the elastic overturning positioning spigot; the elastic overturning positioning spigot comprises two layers of stepped positioning spigots and a spring pull rod; the two layers of stepped positioning rabbets are hinged on the fixed seat through the rotating shaft; the spring pull rod comprises a center pull rod and a spring, the center pull rod penetrates through a vertical plate on the fixed seat and close to the center side of the rotating platform, the spring is fixedly sleeved outside the center pull rod on one side of the vertical plate, and the center pull rod on the other side of the vertical plate is hinged with the two layers of stepped positioning rabbets; and the side positioning surface of the two layers of stepped positioning rabbets is an arc surface and is used for being matched with the inner annular surface of the main shaft connecting end of the hub.
Furthermore, supporting platforms are respectively arranged in sector areas among the three positioning devices on the upper surface of the rotating platform, and the heights of the supporting platforms are slightly higher than the heights of the elastic overturning positioning rabbets in a horizontal state; the upper surface of the supporting platform is also provided with a plurality of plastic protection plates which are arranged along the radial direction.
Furthermore, the rotary platform comprises a platform base, a slewing bearing, a driving mechanism and a working platform; the rotary support is fixed on the platform base, the working platform is fixed on the rotary support, and the chuck mechanism is fixed on the working platform; the driving mechanism comprises a servo motor, a speed reducer and a driving pinion, and the servo motor, the speed reducer and the driving pinion are sequentially connected; a gear ring is arranged on the slewing bearing; the gear ring is elastically and dynamically meshed with the driving pinion; the driving mechanism is connected with the platform base through an elastic connecting piece; the elastic connecting piece comprises a mounting rack, a connecting rod and a spring, and the mounting rack is fixedly connected to the output end face of the driving pinion of the driving mechanism; the connecting rod passes through the riser on the mounting bracket, and the connecting rod that is located riser one side is connected with platform base fixed connection, and the connecting rod that is located the riser opposite side is outer fixedly cup jointed the spring.
Further, the automatic sleeve switching workstation comprises a pneumatic valve station, a frame, a cover plate, a cylinder and a sleeve; a sleeve accommodating cavity is formed in the rack, and the sleeve is accommodated in the sleeve accommodating cavity; the sleeve accommodating cavity is covered with the cover plate; the cover plate is driven to open or close by a cylinder connected with the pneumatic valve station; a plurality of sets of cylinders, cover plates and sleeve accommodating cavities are combined; the specification of the sleeve in each sleeve accommodating cavity is different; a detection sensor is further arranged in each sleeve accommodating cavity, a pneumatic bolt is further arranged on the side wall of each sleeve accommodating cavity, the pneumatic bolt is communicated with a pneumatic valve station, and the pneumatic bolt is used for being clamped with a shaft shoulder of the sleeve; the sleeve accommodating cavity is internally provided with a sleeve guide cone, and the sleeve guide cone is used for being in contact with the bolt matching surface of the sleeve.
Further, still include the yard rifle of sweeping that is connected with control system, be provided with the two-dimensional code on the hub of being assembled.
After adopting such design, the invention has at least the following advantages:
1. the assembling method is based on the intelligent assembling platform of the wind turbine generator variable-pitch bearing, realizes accurate assembling and efficient assembling of the wind turbine generator variable-pitch bearing, and simultaneously realizes full-automatic assembling of different types of wind turbine generator variable-pitch bearings.
2. Through adopting elasticity upset location tang for when wheel hub is not installed, elasticity upset location tang is upset state (center side is low, the outside is high) under the spring action, the external diameter that three location tang formed diminishes, be favorable to the main shaft installation end entering of wheel hub, the center that need not wheel hub before entering is accurate with rotary platform's center, it aims at through elasticity upset location tang guide adjustment wheel hub center in the entering process, after wheel hub whereabouts targets in place, elasticity upset location tang overturns back the horizontality under wheel hub's action of gravity, the side of elasticity upset location tang is laminated with the accurate inner ring face of wheel hub's main shaft link, wheel hub's accurate positioning has been realized, and then realized the accurate assembly and the high-efficient assembly of intelligent assembly method.
3. The rotary platform adopts a driving mode that the gear ring is elastically and dynamically meshed with the driving pinion, and replaces the conventional fixed meshing of the gear ring and the driving pinion.
4. The automatic sleeve changing station adopts the cover plate controlled to be opened and closed by the cylinder, can play a role in protecting and isolating the sleeve, greatly improves the success rate of sleeve replacement by pneumatically driving the clamping sleeve, and avoids the problem that the sleeve cannot be separated from an electric tightening shaft and mounted.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is a top view of an intelligent assembling platform of a pitch bearing of a wind turbine;
FIG. 2 is a perspective view of an intelligent assembling platform of a variable-pitch bearing of a wind turbine;
FIG. 3 is a top view of the rotating platform;
FIG. 4 is a perspective view of the rotating platform;
FIG. 5 is a perspective view of the electric tightening shaft system;
FIG. 6 is a perspective view of the sleeve auto-handoff workstation;
FIG. 7 is a perspective view of the safety shield system;
FIG. 8 is a flow chart of an intelligent assembling method for a pitch bearing of a wind turbine generator system.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1 and 2, the present invention mainly comprises the following components: the automatic sleeve screwing device comprises an industrial robot 1, a robot walking shaft 2, an intelligent electric screwing shaft system 3, a rotating platform 4, a control system 5, an automatic sleeve hand-changing workstation 6 and a safety protection system 7.
The industrial robot 1 is installed on the robot walking shaft 2 and can move back and forth along the robot walking shaft 2 so as to switch between different stations and adjust the transverse position in the machining process.
Because the transverse position of the industrial robot 1 can be adjusted along the robot walking shaft 2, and the mechanical arm of the industrial robot 1 has a certain length, in the intelligent assembling platform for the wind turbine generator pitch bearing, the spatial positions of the rotating platform 4 and the automatic sleeve changing workstation 6 are both in the working range of the industrial robot 1.
Fig. 3 and 4 show the structure of the rotary platform by different spatial angles, respectively. Referring to fig. 4, the rotary platform 4 mainly comprises the following components: platform base 41, slewing bearing 42, drive mechanism 43, work platform 44, chuck mechanism 45, encoder 47, chemical bolt 48. The rotary support 42 and the encoder 47 are fixed to the platform base 41. The working platform 44 is fixed on the rotary support 42, and the chuck mechanism 45 is fixed on the upper surface of the working platform 44.
Chuck mechanism 45 on work platform 44 has three, is 120 degrees intervals along work platform 44 upper surface and sets up, but chuck mechanism 45 radial regulation, and radial regulation's drive power is electronic, and multiplicable manual drive mode is as reserve simultaneously. The working platform 44 is driven by the driving mechanism 43 to rotate horizontally to complete the positioning of the whole hub and the automatic rotation of three surfaces (mounting ends of the variable-pitch bearing), and the rotation angle is 120 degrees each time. The initial zero position of the rotary platform 4 is calibrated by the encoder 47.
The chuck mechanism 45 comprises a positioning device driven by a lead screw, the positioning device comprises a fixed seat 451 fixedly connected with the lead screw and an elastic overturning positioning spigot, a vertical plate 4511 is arranged on the center side of the fixed seat 451 close to the rotating platform, and the elastic overturning positioning spigot comprises a two-layer step-shaped positioning spigot 452 and a spring pull rod 453; the two-layer stepped positioning spigot 452 is hinged on the fixed seat 451 through a rotating shaft 454; the spring pull rod 453 comprises a center pull rod and a spring, the center pull rod penetrates through a vertical plate 4511 which is arranged on the fixed seat 451 and close to the center side of the rotating platform, the spring is fixedly sleeved outside the center pull rod which is arranged on one side of the vertical plate 4511, and the center pull rod which is arranged on the other side of the vertical plate 4511 is hinged with the two-layer stepped positioning spigot 452; the side positioning surface of the two-layer stepped positioning spigot 452 is an arc surface and is used for being matched with the inner annular surface of the main shaft connecting end of the hub.
The positioning device and the inner ring surface of the main shaft connecting end of the hub are positioned by adopting the elastic overturning positioning seam allowance, the outer diameter of a circle formed by the elastic overturning positioning seam allowance can be preset by a program, and the two-dimensional code of a hub workpiece is read according to a code scanning gun to determine. For example, when it is determined that the inner diameter of the spindle connecting end of the hub to be assembled is 1 meter, the positioning device is driven by the lead screw to be accurately positioned (i.e. when the elastic overturning positioning seam allowance is ensured to be in a horizontal state, the outer diameter of a circle formed by the arc surfaces of the three elastic overturning positioning seam allowances is 1 meter), the hub can be installed when the positioning device is positioned, when the hub is not installed, the two layers of stepped positioning seam allowances 452 are in an overturning state (the center side is low and the outer side is high) under the action of elastic force, the outer diameter formed by the three positioning seam allowances is reduced (e.g. less than 1 meter), the spindle installing end of the hub can enter, the center of the hub does not need to be accurately aligned with the center of the rotating platform before entering, the center of the hub is guided and adjusted to be aligned by the two layers of stepped positioning seam allowances 452 in the entering process, and when the hub falls into, the side face (arc face) of the two-layer stepped positioning spigot 452 is accurately attached to the inner ring face of the main shaft connecting end of the hub, so that the hub is accurately positioned, and accurate assembly and efficient assembly of the intelligent assembly platform are further realized.
The work platform 44 is formed by welding structural steel members, and is annealed after welding, and then processed after stress is eliminated. The table top is of a circular configuration for securing the chuck mechanism 45. The working platform 44 is fixed on the slewing bearing 42, and the strength design can ensure that the workpiece is stable and reliable in a slewing state. In addition, support platforms 441 are respectively arranged in the sector areas between the three positioning devices on the upper surface of the working platform 44, and the height of each support platform 441 is slightly higher than that of the elastic overturning positioning spigot in the horizontal state. When the wheel hub is positioned, the supporting platform provides supporting force for the wheel hub, the stress of the positioning device is reduced, and the service life of the positioning device is prolonged.
The upper surface of the supporting platform 441 is further provided with a plurality of plastic protective sheets 442 arranged along the radial direction, so that when the wheel hub is placed on the rotating platform, the spindle mounting end of the wheel hub can be effectively protected from being abraded by steel materials on the surface of the working platform.
The above-mentioned rotary platform is rotated by the drive mechanism 43, wherein, the drive mechanism 43 mainly includes the part: a servo motor, a reducer, and a drive pinion 431. The driving pinion 431 of the driving mechanism 43 is elastically and dynamically engaged with the gear ring of the slewing bearing 42, and the slewing bearing 42 drives the working platform 44 to rotate. The elastic dynamic engagement is realized by the following modes: the driving mechanism 43 is connected with the platform base 41 through an elastic connecting piece 46; the elastic connecting element 46 comprises a mounting frame 461, a connecting rod 462 and a spring 463, wherein the mounting frame 461 is fixedly connected to the output end face of the driving pinion 431 of the driving mechanism 43; the connecting rod 462 passes through the vertical plate on the mounting frame 461, the connecting rod on one side of the vertical plate is fixedly connected with the platform base 41, and the connecting rod on the other side of the vertical plate is fixedly sleeved with the spring 463. Through the elastic adjustment of the spring, the dynamic meshing of the driving pinion 431 and the gear ring of the slewing bearing 42 can be realized, the assembly precision requirements of the driving pinion 431 and the gear ring are greatly reduced, and the driving adaptability is strong.
The platform base 41 is a foundation of the equipment, is formed by welding steel plates and section steel and has enough strength and rigidity. The frame base 41 is integrally annealed after being welded, so that the welding stress is completely eliminated, and the rotary table is not deformed in the long-term use process. The rotary support 42 and the driving mechanism 43 are fixed on the platform base 41, and the platform base 41 is fixed on the foundation ground through chemical bolts 48.
The electric tightening shaft system 3 is disposed at the distal end of the industrial robot 1 and functions to tighten a bolt to be tightened. Referring to fig. 5, the electric tightening shaft system 3 mainly includes components: the electric tightening shaft 31, the reaction force arm 32, the sleeve 33, the visual guidance system 34, the rotary air cylinder 35 and the flexible floating device 36.
Specifically, referring to fig. 5, the tightening part of the electric tightening shaft system 3 includes a mounting bracket, and an electric tightening shaft 31, a rotary cylinder 35, and a flexible floating device 36 mounted on the mounting bracket. The socket is attached to the tip of the power tightening shaft 31. A large gear 38 is sleeved on the electric tightening shaft 31 between the sleeve and the mounting bracket, and a reaction force arm 32 is mounted on the large gear 38. The rotary cylinder 35 is provided at one end with a pinion gear 37 engaged with a bull gear 38. The flexible floating device 36 is flexibly connected with the inner part of a mechanical arm of the industrial robot.
The vision guidance system 34 performs 2D measurement of the hub workpiece bolts in the programmed trajectory, and then calculates the offset between the hub workpiece bolts and the programmed basic coordinates to adjust the attitude of the power tightening shaft 31 and move to the first bolt position to be tightened. The flexible floating device 36 is flexibly connected with the inner part of the industrial robot 1, so that the problem that the center of a robot shaft and the center of a bolt are eccentric can be solved, and the flexible floating device 36 stably acts in the process of fastening the bolt. The rotary cylinder 35 is used to push the reaction arm 32 of the power tightening shaft 31.
In addition, the electric tightening shaft system 3 is also provided with a torque sensor. The electric tightening shaft system 3 can automatically set and adjust a bolt tightening torque value, measures the actually output torque through the torque sensor, feeds the torque back to the control system 5, and automatically stores the torque in an Exce l table format, so that later-stage data analysis and data investigation are facilitated. Compared with the conventional system using a hydraulic wrench, the electric tightening shaft system 31 has higher tightening accuracy and efficiency and has data traceability.
Fig. 6 shows the structure of the automatic sleeve handoff workstation provided by the present invention. Referring to fig. 6, the automatic sleeve handoff workstation 6 mainly comprises the following components: pneumatic valve station 61, frame 62, adjusting bracket 63, apron 65, cylinder 66, sleeve 67.
Automatic sleeve switching workstation 6 can include the sleeve of multiple specification, when industrial robot 1 removed to corresponding the station and change the sleeve, cylinder 66 promoted apron 65 and opens, and industrial robot 1 picks up the sleeve that corresponds, takes away the sleeve from the station, and apron 65 is closed, can play the protection isolation to the sleeve.
More specifically, the automatic sleeve-switching workstation 6 comprises a pneumatic valve station 61, a frame 62, a cover plate 65, a cylinder 66 and a sleeve 67. A sleeve containing cavity is formed in the rack, and the sleeve is contained in the sleeve containing cavity. The sleeve receiving cavity is covered by said cover plate 65. The cover 65 is driven to open or close by a cylinder 66 connected to the pneumatic valve station 61. The combination of cylinder 66, apron 67, sleeve holding chamber has many sets. The specification of the sleeve in each sleeve accommodating cavity is different.
Each sleeve holds the intracavity and still is provided with detection sensor and sleeve guide cone 68, hold the intracavity lateral wall at the sleeve and still be provided with pneumatic bolt 64, pneumatic bolt 64 and pneumatic valve station intercommunication (not shown in the figure), when industrial robot placed the sleeve, pneumatic bolt 64 is in the non-plug-in state, industrial robot overlaps sleeve 67 on sleeve guide cone 68, telescopic bolt fitting surface and sleeve guide cone 68 contact, the sleeve targets in place the back, pneumatic bolt 64 inserts the sleeve and holds the intracavity under the air supply effect at pneumatic valve station, with telescopic shaft shoulder block, electronic tight axle separates with the sleeve, the process of installation sleeve is on the contrary, no longer repeated. Through the mode of pneumatic drive centre gripping sleeve, improved the success rate that the sleeve was changed greatly, avoided the sleeve can't break away from and the problem of installation with electronic tight axle.
The bottom of the frame 62 is further provided with an adjusting bracket 63, and the adjusting bracket 63 is used for adjusting the height and balance of the frame 62.
Fig. 7 shows the structure of the safety protection system provided by the present invention. Referring to fig. 7, safety shield system 7 generally includes the following components: safety protective guard 71, safety light 72, emergency exit 73.
The safety protective guard 71 is characterized in that steel wires are embedded in the middle of an aluminum alloy frame structure, the safety protective guard 71 is in a split type design and is fixed with the ground through a plugging structure, and the safety protective guard is installed in a modularized mode, convenient to detach and optimized in upgrading. The safety door 73 adopts a safety door lock structure, and as long as a door lock of a certain station is in an opening state, the whole station is in a power-off state. The safety grating 72 mainly isolates the two stations to separate the two stations, so that the industrial robot 1 in the other area is prevented from being operated by mistake to reach the personnel operation area or the personnel do not obey the regulations and go to the other area from the middle channel when the personnel operates in the area, and the safety of the personnel is protected.
The industrial robot 1, the electric tightening shaft system 3, the rotary platform 4 and the automatic sleeve changing workstation 6 are combined into two sets, the two sets are arranged in the safety protective guard 71 at intervals through safety gratings 72, and the safety door 73 is connected with the safety protective guard 71 and adopts a safety door lock structure.
FIG. 8 shows a flow chart of an intelligent assembling method for a pitch bearing of a wind turbine. And (4) predefining working programs of different hub workpieces according to product types, and starting the system. Referring to fig. 8, the intelligent assembling method for the pitch bearing of the wind turbine generator comprises the following steps:
s81, firstly, reading the two-dimensional code of the hub workpiece to be assembled through the code scanning gun, automatically calling a working program for the hub by the control system, and automatically adjusting the diameter of the reference circle to the required matching size of the hub by the chuck mechanism on the rotary platform.
S82, when the wheel hub is hoisted to the rotary platform, the main shaft connecting end of the wheel hub presses the elastic overturning positioning spigot downwards, under the guiding of the elastic overturning positioning spigot, the main shaft connecting end of the wheel hub is installed in place and overturns to clamp the main shaft connecting end of the wheel hub through the elastic overturning positioning spigot, after the wheel hub is clamped by the chuck mechanism, the rotary platform is matched with a vision guide system carried by the tail end of a mechanical arm of the industrial robot to automatically align a first working face of the wheel hub, and then the position of a first bolt needing to be fastened of the working face is automatically found.
S83, before fastening the bolt, the control system firstly judges whether the sleeve matched with the intelligent electric tightening shaft system is a corresponding sleeve, otherwise, the control system automatically replaces the required sleeve through the sleeve replacement workstation.
And S84, after the sleeve is replaced or the sleeve does not need to be replaced, the electric tightening shaft system carried by the industrial robot carries out step tightening according to a preset bolt tightening program.
The so-called step tightening is to find each bolt to be tightened one by the visual guidance system 34 provided in the power tightening shaft system 3, and to tighten each found bolt one by one.
And S85, when the bolts of one working surface are fastened, the rotary platform automatically rotates by 120 degrees to fasten the next working surface until the bolts of the three working surfaces are fastened completely.
After the bolt fastening work at the first station is completed, the industrial robot 1 automatically moves to the second station to complete the bolt fastening work at the second station.
The assembling method is based on the intelligent assembling platform of the wind turbine generator variable-pitch bearing, realizes accurate assembling and efficient assembling of the wind turbine generator variable-pitch bearing, and simultaneously realizes full-automatic assembling of different types of wind turbine generator variable-pitch bearings.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (10)
1. The intelligent assembling method of the wind turbine generator variable-pitch bearing is used for screwing a bolt for assembling the wind turbine generator variable-pitch bearing and a hub, and is characterized in that the assembling method is based on an intelligent assembling platform of the wind turbine generator variable-pitch bearing;
the intelligent assembling platform for the variable-pitch bearing of the wind turbine generator comprises an industrial robot, a robot walking shaft, an electric tightening shaft system, a rotating platform, an automatic sleeve-changing workstation and a control system; the industrial robot is arranged on the robot walking shaft and can move along the robot walking shaft; the electric tightening shaft system is arranged at the tail end of a mechanical arm of the industrial robot; the electric tightening shaft system comprises a tightening part with a sleeve at the tail end and a visual guide system arranged on the tightening part; the upper surface of the rotating platform is provided with a chuck mechanism for fixing a main shaft connecting end of the hub, the chuck mechanism comprises a positioning device driven by a lead screw, the positioning device is provided with an elastic overturning positioning spigot, and the elastic overturning positioning spigot is used for being matched and positioned with an inner annular surface of the main shaft connecting end of the hub; three chuck mechanisms are arranged at intervals of 120 degrees along the upper surface of the rotating platform; the automatic rotary platform and sleeve handoff workstation is positioned in the working range of the industrial robot; the automatic sleeve-switching workstation is used for providing a sleeve for screwing the electric screwing shaft system; the control system is connected with an industrial robot, an electric tightening shaft system, a rotating platform and an automatic sleeve-changing workstation;
the assembling method comprises the following steps:
after the wheel hub is hoisted to the rotating platform, the main shaft connecting end of the wheel hub presses the elastic overturning and positioning spigot downwards, under the guide of the elastic overturning and positioning spigot, the main shaft connecting end of the wheel hub is installed in place and the elastic overturning and positioning spigot overturns and clamps the main shaft connecting end of the wheel hub, after being clamped by the chuck mechanism, the rotating platform automatically aligns a first working surface of the wheel hub by matching with a vision guide system carried by the tail end of a mechanical arm of an industrial robot, and then automatically finds a first bolt position needing to be fastened of the working surface;
before fastening the bolt, the control system judges whether a sleeve matched with the intelligent electric tightening shaft system is a corresponding sleeve or not, otherwise, the control system automatically replaces the required sleeve through a sleeve replacing workstation;
after the sleeve is replaced or after the sleeve does not need to be replaced, an electric tightening shaft system carried by the industrial robot is used for tightening step by step according to a preset bolt tightening program;
after the bolts of one working face are fastened, the rotary platform automatically rotates by 120 degrees to fasten the next working face until the bolts of the three working faces are fastened completely.
2. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, wherein the assembling platform comprises two assembling stations; after the assembly of the first station is completed, the automatic switching of the two stations is realized through the walking shaft of the robot, and the assembly of the second station is continuously completed.
3. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, wherein before the hub is clamped and positioned, working procedures of different hubs are predefined according to product categories; starting a control system, firstly reading a two-dimensional code of an assembled hub workpiece through a code scanning gun, automatically calling a working program for the hub by the control system, and automatically adjusting the diameter of a reference circle to a required matching size of a connecting end of a hub spindle by a chuck mechanism on a rotary platform; and then the hub is hoisted to the rotating platform and is clamped by the chuck mechanism.
4. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, wherein the vision guidance system measures the bolts on the hub in 2D according to a programmed track, and then calculates the offset between the bolts on the hub and programmed basic coordinates, so as to adjust the posture of the electric tightening shaft system and move to a first bolt position to be fastened.
5. The intelligent assembling method for the pitch bearing of the wind turbine generator system according to claim 1, wherein the electric tightening shaft system automatically sets and adjusts a bolt fastening torque value, measures an actually output torque through a torque sensor built in the electric tightening shaft system, feeds the actually output torque back to a control system, and automatically stores the actually output torque in an Excel table format.
6. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, wherein the positioning device comprises a fixed seat fixedly connected with a lead screw and the elastic overturning positioning spigot;
the elastic overturning positioning spigot comprises two layers of stepped positioning spigots and a spring pull rod; the two layers of stepped positioning rabbets are hinged on the fixed seat through the rotating shaft; the spring pull rod comprises a center pull rod and a spring, the center pull rod penetrates through a vertical plate on the fixed seat and close to the center side of the rotating platform, the spring is fixedly sleeved outside the center pull rod on one side of the vertical plate, and the center pull rod on the other side of the vertical plate is hinged with the two layers of stepped positioning rabbets; and the side positioning surface of the two layers of stepped positioning rabbets is an arc surface and is used for being matched with the inner annular surface of the main shaft connecting end of the hub.
7. The intelligent assembling method for the pitch bearing of the wind turbine generator system according to claim 1, wherein a supporting platform is arranged in a sector area between the three positioning devices on the upper surface of the rotating platform, and the height of the supporting platform is slightly higher than that of the elastic overturning positioning spigot in a horizontal state; the upper surface of the supporting platform is also provided with a plurality of plastic protection plates which are arranged along the radial direction.
8. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, wherein the rotating platform comprises a platform base, a slewing bearing, a driving mechanism and a working platform;
the rotary support is fixed on the platform base, the working platform is fixed on the rotary support, and the chuck mechanism is fixed on the working platform;
the driving mechanism comprises a servo motor, a speed reducer and a driving pinion, and the servo motor, the speed reducer and the driving pinion are sequentially connected; a gear ring is arranged on the slewing bearing; the gear ring is elastically and dynamically meshed with the driving pinion;
the driving mechanism is connected with the platform base through an elastic connecting piece; the elastic connecting piece comprises a mounting rack, a connecting rod and a spring, and the mounting rack is fixedly connected to the output end face of the driving pinion of the driving mechanism; the connecting rod passes through the riser on the mounting bracket, and the connecting rod that is located riser one side is connected with platform base fixed connection, and the connecting rod that is located the riser opposite side is outer fixedly cup jointed the spring.
9. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, wherein the automatic sleeve switching workstation comprises a pneumatic valve station, a frame, a cover plate, a cylinder and a sleeve;
a sleeve accommodating cavity is formed in the rack, and the sleeve is accommodated in the sleeve accommodating cavity; the sleeve accommodating cavity is covered with the cover plate; the cover plate is driven to open or close by a cylinder connected with the pneumatic valve station; a plurality of sets of cylinders, cover plates and sleeve accommodating cavities are combined; the specification of the sleeve in each sleeve accommodating cavity is different;
a detection sensor is further arranged in each sleeve accommodating cavity, a pneumatic bolt is further arranged on the side wall of each sleeve accommodating cavity, the pneumatic bolt is communicated with a pneumatic valve station, and the pneumatic bolt is used for being clamped with a shaft shoulder of the sleeve;
the sleeve accommodating cavity is internally provided with a sleeve guide cone, and the sleeve guide cone is used for being in contact with the bolt matching surface of the sleeve.
10. The intelligent assembling method for the pitch bearing of the wind turbine generator according to claim 1, further comprising a code scanning gun connected with a control system, wherein a two-dimensional code is arranged on the hub.
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| 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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| 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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| CN109838350B true CN109838350B (en) | 2020-04-28 |
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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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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