CN109968013A - Wind power hub assembly line system - Google Patents

Abstract

A wind power hub assembly line system includes a servo rotating table, a pitch bearing turning and aligning installation device, a pitch bearing bolt pre-tightening device and a pitch bearing bolt hydraulic tightening device evenly arranged around the servo rotating table. The pitch bearing turning over alignment installation device is used to take the pitch bearing that is hoisted on the road, and place the pitch bearing in the correct position of the corresponding flange surface of the wind turbine hub. The pitch bearing bolt pre-tightening device is used to remove the bolts from the bolt material truck, and put the rods of the bolts into the corresponding screw holes on the wind turbine hub and the flange surface of the pitch bearing for pre-tightening. The pitch bearing bolt hydraulic tightening device is used for tightening the bolts of the wind turbine hub and the flange surface of the pitch bearing. The servo rotary table is used to support and position the wind turbine hub, and rotate 120 degrees each time with the wind turbine hub to switch between different stations. It has a reasonable structure and high work efficiency, which can reduce the risk of bump quality, reduce the labor intensity of operators, and improve production safety.

Description

Wind turbine hub assembly line system

technical field

The invention relates to the technical field of wind power generator production equipment, in particular to a wind power hub assembly line system.

Background technique

In the prior art, the process of installing the pitch bearing into the hub of the wind turbine usually needs to be done manually by the operator. During installation, lift the pitch bearing by driving to adjust the position and angle of the pitch bearing, and the operator holds the torque wrench on the auxiliary ladder to install the bolts one by one. The hub has three flange surfaces evenly distributed. The operator needs to lift the three pitch bearings to each flange surface for assembly, which is extremely inconvenient, has low work efficiency, has the risk of bumping quality, and has a great potential safety hazard.

Therefore, there is an urgent need in the prior art for a wind power hub assembly system capable of completing the installation of the hub pitch bearing, so as to improve production efficiency, reduce the risk of bump quality, and improve production safety.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a wind power wheel hub assembly line system to improve production efficiency, reduce the risk of bump quality, reduce the labor intensity of operators, and improve production safety.

The present invention is realized through the following technical solutions: a wind power hub assembly line system, comprising a servo rotating table for supporting and positioning the wind power hub and rotating the wind power hub by 120 degrees at a time, and a transformer evenly arranged around the servo rotating table A propeller bearing turning over and aligning installation device, a pitch bearing bolt pre-tightening device and a pitch bearing bolt hydraulic tightening device, the servo rotating table includes a base, a support turntable located above the base, and a support turntable arranged between the support turntable and the base. The turntable bearing between the two parts, at least three support positioning seats evenly arranged above the support turntable, and a servo motor arranged on the base, the turntable bearing includes an inner ring and an outer gear ring arranged on the outer circumference of the inner ring. The inner ring is connected with the base through bolts, the outer ring gear is connected with the support turntable through bolts, the power output shaft of the servo motor is connected with a driving gear, and the driving gear meshes with the outer ring gear, The base is provided with a proximity switch upright, the lower surface of the support turntable is evenly provided with three metal detection blocks corresponding to the proximity switch, the base is provided with a cylinder, and the base is provided with a cylinder above the cylinder. A guide seat, the center of the guide seat is provided with a guide hole, the upper end of the piston rod of the cylinder is connected with a positioning pin, the positioning pin extends into the guide hole, and the support turntable is evenly provided with three locating pins corresponding to the positioning pins. A positioning seat, the center of the positioning seat is provided with a positioning pin hole.

An initial position scale is provided on the side of the support turntable, an upright pointer is installed on the base through a pointer seat, and the pointer is located below the initial position scale.

The support turntable is provided with an L-shaped calibration block on the side of the positioning seat, the calibration block is provided with a screw hole, and an adjustment bolt is connected in the screw hole of the calibration block, and the front end of the adjustment bolt abuts against the seat. The side surface of the positioning seat, the supporting turntable is provided with a connecting through hole, the mounting through hole of the positioning seat is provided with a fixing bolt, the fixing bolt passes through the connecting through hole and is connected with the nut, and the diameter of the connecting through hole is larger than the screw diameter of the fixing bolt.

The support and positioning seat includes an L-shaped structural member composed of a transverse part and an upright part, the upper surface of the transverse part is provided with a hub positioning pin, and the top end of the upright part corresponds to the inner flange of the lower end of the wind turbine hub. The circumference is provided with guide slopes.

The base is connected with a refueling gear through a mandrel, the refueling gear meshes with the outer ring gear, the mandrel is provided with a mandrel oil delivery channel, and the mandrel is provided with an oil inlet communicated with the mandrel oil delivery channel The oil inlet hole is connected with the oil circuit, the oil filling gear is provided with an oil transmission hole, the oil transmission hole of the oil filling gear communicates with the oil transmission hole of the mandrel, and the tooth surface of the oil filling gear is provided with an oil transmission hole. The oil outlet holes connected with the oil holes.

The pitch bearing turning and aligning installation device includes a base frame, an X-axis guide rail arranged on the base frame, an X-axis installation seat arranged on the X-axis guide rail, and an X-axis installation seat arranged between the X-axis installation seat and the base frame. The X-axis drive mechanism used to drive the X-axis mounting seat to move along the X-axis, the Y-axis guide rail arranged on the X-axis mounting seat, the Y-axis frame arranged on the Y-axis guide rail, A Y-axis drive mechanism arranged between the Y-axis frame and the X-axis mounting seat for driving the Y-axis frame to move along the Y-axis, a Z-axis guide rail arranged on the Y-axis frame, The lifting seat arranged on the Z-axis guide rail, the Z-axis driving mechanism arranged between the lifting seat and the Y-axis frame for driving the lifting seat to rise and fall along the Z-axis, and the rotatable installation on the lifting seat frame, a turning drive mechanism installed on the lifting base for driving the turning frame to turn over, a rotatable pitch bearing support frame installed above the turning frame, and a pitch bearing support frame installed on the turning frame for driving the turning of the pitch bearing support frame. In the rotary drive mechanism, the left and right ends of the pitch bearing support frame are provided with electromagnets and positioning pins.

The X-axis drive mechanism includes an X-axis rack arranged on the chassis, an X-axis servo motor arranged on the X-axis mounting seat, and an X-axis gear arranged at the power output end of the X-axis servo motor, The X-axis gear meshes with the X-axis rack; the Y-axis drive mechanism includes a Y-axis rack arranged on the X-axis mounting seat, a Y-axis rack arranged on the Y-axis frame A servo motor and a Y-axis gear arranged at the power output end of the Y-axis servo motor, the Y-axis gear meshes with the Y-axis rack; the Z-axis drive mechanism includes a Y-axis frame arranged on the Y-axis The Z-axis rack on the front surface, the Z-axis servo motor arranged on the lift seat, and the Z-axis gear arranged at the power output end of the Z-axis servo motor, the Z-axis gear and the Z-axis gear The top end of the Y-axis frame is provided with a pulley through the pulley seat, the back of the Y-axis frame is provided with a counterweight cavity, and a counterweight block is arranged in the counterweight cavity, and the lift seat is connected to There is a steel wire rope, the steel wire rope is connected with the counterweight block through the pulley; the turning drive mechanism includes a turning motor and a turning reducer, the turning reducer is installed on the lifting seat, and the power output end of the turning motor is It is connected with the power input end of the inversion reducer, and the power output end of the inversion reducer is connected with the inversion frame; the rotary drive mechanism includes a rotary motor and a rotary speed reducer, and the rotary speed reducer is installed on the Turning frame, the power output end of the rotary motor is connected with the power input end of the rotary speed reducer, and the power output end of the rotary speed reducer is connected with the pitch bearing support frame.

The pitch bearing bolt pre-tightening device includes a pre-tightening six-axis joint arm robot, an electric wrench and an industrial camera disposed at the front end of the pre-tightening six-axis joint arm robot, and a side of the pitch bearing bolt pre-tightening device is also provided. Bolt material cart.

The pitch bearing bolt hydraulic tightening device includes two six-axis joint arm robots, a floating connection mechanism connected to the front end of each of the six-axis joint arm robots, and a hydraulic wrench connected to the front end of the floating connection mechanism. The connecting mechanism includes a cylinder connecting plate, a buffer cylinder fixedly arranged at the front end of the cylinder connecting plate, at least two linear bearing outer casings fixedly arranged on the side of the buffer cylinder, a linear bearing arranged in each linear bearing outer casing, and a linear bearing connected to each linear bearing. The linear guide rod, the housing connection seat fixedly connected to the front end of the piston rod of the buffer cylinder, the universal ball housing fixedly connected to the front end of the housing connection seat, the universal ball mounting seat arranged in the universal ball housing, the The universal ball in the universal ball mounting seat, the semi-circular copper sleeve fixedly connected with the universal ball, and the wrench connecting arm fixed in the middle of the semi-circular copper sleeve and fixedly connected to the The hydraulic wrench connection seat at the front end of the wrench connection arm, the cylinder connection plate is connected to the front end of the six-axis joint arm robot, the front end of the linear guide rod is connected to the universal ball housing, and the hydraulic wrench is connected to the The front end of the hydraulic wrench is connected to the base, and the outer side of the buffer cylinder is provided with a reaction force arm cylinder.

The cylinder connecting plate is connected with a laser range finder bracket, and the laser range finder bracket is connected with a laser range finder.

The beneficial effects of the invention are as follows: the invention has a reasonable structure and high working efficiency, can reduce the risk of bumping quality, reduce the labor intensity of operators, and improve production safety.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of the servo rotary table;

3 is a schematic diagram of the internal structure of the servo rotary table;

Fig. 4 is the structural representation of the use state of the servo rotary table;

Fig. 5 is the three-dimensional structure schematic diagram of the first angle of view of the pitch bearing turning over alignment installation device;

Fig. 6 is the three-dimensional structure schematic diagram of the second angle of view of the pitch bearing turning over and aligning installation device;

Figure 7 is a schematic diagram of the front structure of the pitch bearing turning over alignment installation device;

Figure 8 is a schematic structural diagram of a hydraulic fastening device for pitch bearing bolts;

FIG. 9 is a schematic structural diagram of a floating connection mechanism.

In the figure: 100-Servo rotary table; 101-Base; 102-Rotary table bottom plate; 103-Base fixing bolts; 104-Support turntable; 105-Support positioning seat; 106-Guiding slope; 108-ruler; 109-pointer seat; 110-pointer; 111-calibration block; 112-adjustment bolt; 113-positioning seat; 114-positioning pin hole; 115-cylinder; 116-guide seat; 117-servo motor; 118- Driving gear; 119-outer ring gear; 120-inner ring; 121-fueling gear; 122-wind turbine hub; 123-top cover; 124-proximity switch; 125-fixing bolt;

200-Pitch Bearing Turning Alignment Installation Device; 201- Bottom Frame; 202- Bottom Plate; 203-X Axial Guide Rail; 204-X Axial Rack; 205-X Axial Servo Motor; 206-X Axial Mounting Seat ;207-Y axial guide; 208-Y axial rack; 209-Y axial servo motor; 210-Y axial frame; 211-Z axial guide; 212-Z axial rack; 213-Z Axial servo motor; 214-lifting seat; 215-pulley seat; 216-pulley; 217-counterweight cavity; 218-turning motor; 219-turning reducer; 220-turning frame; 221-slewing motor; 222-pitch Bearing support frame; 223-pin hole; 224-positioning pin; 225-electromagnet; 226-support beam; 227-X axial gear; 228-wire rope; 229-pitch bearing;

300- pitch bearing bolt pre-tightening device; 301- pre-tightening six-axis joint arm robot; 302- electric wrench; 303- bolt material truck;

400-pitch bearing bolt hydraulic tightening device; 401-bolt sleeve; 402-torque sensor; 403-hydraulic wrench; 404-hydraulic wrench connecting seat; 405-semi-circle copper sleeve; 406- wrench connecting arm; 407-universal Ball; 408-Universal ball housing; 409-Linear guide rod; 410-Linear bearing; 411-Housing connection seat; 412-Cylinder housing; 413-Piston; 414-Cylinder connecting plate; 416-laser rangefinder bracket; 417-laser rangefinder; 418-reaction arm cylinder; 419- universal ball mount; 420-floating connection mechanism; 421-six-axis joint arm robot; 422-reaction arm.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , a wind turbine hub assembly line system includes a servo rotary table 100 and a pitch bearing turning and aligning installation device 200 , a pitch bearing bolt pre-tightening device 300 and a pitch bearing that are evenly arranged around the servo rotary table 100 Bearing bolt hydraulic tightening device 400 . The pitch bearing turning and positioning installation device 200 is used to take the pitch bearing 229 hoisted by the traveling vehicle, and place the pitch bearing 229 in the correct position of the corresponding flange surface of the wind turbine hub. The pitch bearing bolt pre-tightening device 300 is used to remove the bolts from the bolt material truck 303, take the bolts to the corresponding flange mounting surface of the wind turbine hub, and put the rods of the bolts into the wind turbine hub and pitch bearing 229 Method into the corresponding screw holes on the blue surface and pre-tighten. The pitch bearing bolt hydraulic tightening device 400 is used for tightening the bolts of the wind turbine hub and the flange surface of the pitch bearing 229 . The servo rotary table 100 is used to support and position the wind turbine hub and rotate 120 degrees each time with the wind turbine hub, and the servo rotary table 100 rotates 120 degrees each time with the wind turbine hub to perform conversion between different stations.

As shown in FIGS. 2 to 4 , the servo turntable 100 includes a base 101 , a support turntable 104 located above the base 101 , a turntable bearing arranged between the support turntable 104 and the base 101 , The upper at least three support positioning seats 105 and the servo motor 117 arranged on the base 101, the turntable bearing includes an inner ring 120 and an outer gear ring 119 arranged on the outer circumference of the inner ring 120, the inner ring 120 is connected to the base 101 by bolts Connection, the outer ring gear 119 is connected with the support turntable 104 through bolts, the power output shaft of the servo motor 117 is connected with a driving gear 118, the driving gear 118 meshes with the outer ring gear 119, the base 101 is erected with a proximity switch 124, and the support turntable 104 The lower surface of the base 101 is provided with three metal detection blocks corresponding to the proximity switch 124, the base 101 is provided with a cylinder 115, the base 101 is provided with a guide seat 116 above the cylinder 115, the center of the guide seat 116 is provided with a guide hole, the cylinder 115 The upper end of the piston rod is connected with a positioning pin, the positioning pin extends into the guide hole, the support turntable 104 is evenly provided with three positioning seats 113 corresponding to the positioning pins, and the center of the positioning seat 113 is provided with a positioning pin hole 114.

During operation, the wind turbine hub 122 is hoisted to the top of the support turntable 104 by driving, and the wind turbine hub 122 is lowered to the support positioning seat 105 of the support turntable 104, and each flange surface of the wind turbine hub 122 is facing the corresponding automatic installation. Station. During the working process, the servo motor 117 drives the outer ring gear 119, the support turntable 104 and the wind turbine hub 122 to rotate through the driving gear 118. When the rotation is 120 degrees, the proximity switch 124 faces the metal detection block, and transmits the in-position signal to the control circuit to control the The circuit stops the servo motor 117 from working. At this time, the piston rod of the air cylinder 115 drives the locating pin to extend upward and into the locating pin hole 114 of the locating seat 113 for positioning until the corresponding automatic installation station completes its work, the cylinder 115 drives the locating pin to retract, and the servo motor 117 The support turntable 104 and the wind turbine hub 122 are driven to rotate 120 degrees again.

The invention has reasonable structure and stable operation. It can support and position the wind turbine hub 122, and can rotate the wind turbine hub 122 by 120 degrees each time. After the rotation is in place, it can be automatically positioned to meet the requirements of the three automatic assembly stations around it. Assembly requirements.

As shown in FIG. 2 , an initial position scale 108 is provided on the side of the support turntable 104 , and an upright pointer 110 is installed on the base 101 through the pointer seat 109 , and the pointer 110 is located below the initial position scale 108 . Before working, the initial position of the support turntable 104 needs to be adjusted. When the support turntable 104 is located at the exact initial position, the pointer 110 is facing the middle of the initial position scale 108 . The initial position of the support turntable 104 is adjusted to ensure that the relative position of the positioning pin and the positioning pin hole 114 of the positioning base 113 is more accurate.

As shown in FIG. 2 , the support turntable 104 is provided with an L-shaped calibration block 111 on the side of the positioning seat 113 , the calibration block 111 is provided with screw holes, and the screw holes of the calibration block 111 are connected with adjustment bolts 112 , and the front end of the adjustment bolts 112 Abutting on the side of the positioning seat 113, the supporting turntable 104 is provided with a connecting through hole, and the mounting through hole of the positioning seat 113 is provided with a fixing bolt 125, and the fixing bolt 125 is connected to the nut through the connecting through hole, and the diameter of the connecting through hole is larger than that of the fixed through hole. The screw diameter of the bolt 125. Since the diameter of the connecting through hole is larger than the diameter of the screw of the fixing bolt 125, the screw of the fixing bolt 125 can move left and right in the connecting through hole. By locking the fixing bolt 125 with the nut, the relative position of the locating pin and the locating pin hole 114 of the locating seat 113 is further calibrated.

Referring to FIG. 1 , the support and positioning seat 105 includes an L-shaped structural member composed of a transverse portion and an upright portion. The upper surface of the transverse portion is provided with a hub positioning pin 107 , and the top of the upright portion corresponds to the inner circumference of the flange at the lower end of the wind turbine hub 122 . Guide ramps 106 are provided. When the wind turbine hub 122 is hoisted to the support positioning seat 105 by driving, the inner circumference of the flange at the lower end of the wind turbine hub 122 is in contact with the guiding inclined surface 106, and the guiding inclined surface 106 can make the wind turbine hub 122 fall to the correct position more easily. The hub positioning pin 107 It extends into the flange screw hole at the lower end of the wind turbine hub 122 to play a positioning role. The upper surface of the lateral portion of the support positioning base 105 is provided with a nylon sheet, which can effectively prevent the contact surface of the wind turbine hub from being damaged.

The lower ends of the four corners of the base 101 are fixedly provided with a rotary table bottom plate 102 , and the rotary table bottom plate 102 is provided with through holes, and the base fixing bolts 103 are provided in the through holes. The base 101 is connected with the workshop floor through the base fixing bolts 103, so that the present invention is more stable as a whole. A top cover 123 is provided in the middle of the support turntable 104 .

The base 101 is connected with a refueling gear 121 through a mandrel. The refueling gear 121 meshes with the outer gear ring 119. The oil hole is connected with the oil circuit. The oil filling gear 121 is provided with an oil transmission hole, and the oil transmission hole of the oil filling gear 121 is connected with the spindle oil transmission hole. Without stopping and disassembling the equipment, lubricating oil can be added to the outer ring gear 119 through the refueling gear 121, which is more convenient and ensures the production efficiency.

As shown in FIGS. 5 to 7 , the pitch bearing turning and aligning installation device 200 includes a base frame 201 , an X-axis guide rail 203 arranged on the base frame 201 , and an X-axis mounting seat arranged on the X-axis guide rail 203 206. An X-axis drive mechanism disposed between the X-axis mounting seat 206 and the chassis 201 for driving the X-axis mounting seat 206 to move along the X-axis, and a Y-axis disposed on the X-axis mounting seat 206 The guide rail 207, the Y-axis frame 210 disposed on the Y-axis guide rail 207, and the Y-axis frame 210 disposed between the Y-axis frame 210 and the X-axis mounting seat 206 are used to drive the Y-axis frame 210 along the Y-axis The Y-axis drive mechanism that moves in the direction, the Z-axis guide rail 211 arranged on the Y-axis frame 210, the lifting seat 214 arranged on the Z-axis guide rail 211, the lifting seat 214 and the Y-axis frame 210 The Z-axis drive mechanism for driving the lifting base 214 to move up and down along the Z-axis, the rotatable turning frame 220 installed on the lifting base 214, and the turning drive installed on the lifting base 214 for driving the turning frame 220 to turn over are in between. mechanism, a rotatable pitch bearing support frame 222 installed above the turning frame 220 and a rotary drive mechanism installed on the turning frame 220 for driving the pitch bearing support frame 222 to rotate, the left and right of the pitch bearing support frame 222 Both ends are provided with electromagnets 225 and positioning pins 224 .

Referring to FIGS. 5-7 , the X-axis drive mechanism includes an X-axis rack 204 arranged on the chassis 201 , an X-axis servo motor 205 arranged on the X-axis mounting seat 206 , and an X-axis servo motor 205 arranged on the X-axis mounting seat 206 . The X-axis gear 227 at the power output end, the X-axis gear 227 meshes with the X-axis rack 204 .

5 and 6, the Y-axis drive mechanism includes a Y-axis rack 208 arranged on the X-axis mounting seat 206, a Y-axis servo motor 209 arranged on the Y-axis frame 210, and a Y-axis servo motor 209 arranged on the Y-axis To the Y-axis gear at the power output end of the servo motor 209 , the Y-axis gear meshes with the Y-axis rack 208 .

5-7, the Z-axis drive mechanism includes a Z-axis rack 212 disposed on the front surface of the Y-axis frame 210, a Z-axis servo motor 213 disposed on the lift seat 214, and a Z-axis servo motor 213 disposed on the Z-axis The Z-axis gear of the power output end of the servo motor 213 meshes with the Z-axis rack 212 , the top of the Y-axis rack 210 is provided with a pulley 216 through the pulley seat 215 , and the back of the Y-axis rack 210 A counterweight cavity 217 is provided, a counterweight block is provided in the counterweight cavity 217 , and a wire rope 228 is connected to the lifting base 214 , and the wire rope 228 is connected to the counterweight block through a pulley 216 .

5-7, the inversion driving mechanism includes a reversing motor 218 and a reversing reducer 219, the reversing reducer 219 is installed on the lifting base 214, the power output end of the reversing motor 218 is connected with the power input end of the reversing reducer 219, and the reversing reducer The power output end of 219 is connected to the turning frame 220 .

Referring to FIG. 7 , the slewing drive mechanism includes a slewing motor 221 and a slewing reducer, the slewing reducer is mounted on the flip frame 220 , the power output end of the slewing motor 221 is connected to the power input end of the slewing reducer, and the power output end of the slewing reducer is connected to the power input end of the slewing reducer. The pitch bearing support frame 222 is connected.

During operation, the pitch bearing is hoisted by driving to make the pitch bearing fall slowly. The operator assists the pitch bearing to fall on the pitch bearing support frame 222 by hand, and makes the positioning pin 224 penetrate into the pitch bearing. in the flange connection hole. The electromagnet 225 is turned on, and the overturning drive mechanism causes the pitch bearing support frame 222 and the pitch bearing to be turned forward by 90 degrees, so that the pitch bearing changes from horizontal to upright. The X-axis drive mechanism and the Y-axis drive mechanism adjust the X-axis and Y-axis positions of the pitch bearing, the Z-axis drive mechanism lowers the position of the pitch bearing, and the rotary drive mechanism drives the pitch bearing to rotate, making the pitch The flange connection hole of the bearing is facing the connection hole of the corresponding flange mounting surface of the wind turbine hub, and then the X-axis drive mechanism drives the pitch bearing to move forward to the corresponding flange mounting surface of the wind turbine hub, and the operator connects to the flange of the pitch bearing. Put 3-6 pins in the hole and the connecting hole of the corresponding flange mounting surface of the wind turbine hub to fix the position of the pitch bearing, that is, the alignment and installation of the pitch bearing is completed.

During the working process, the operator can control the movement, flip and rotation of the equipment in all directions through the corresponding control buttons. Of course, an in-position detection sensor and an angle encoder can also be provided. The in-position detection sensor can detect the movement of the X-axis, Y-axis and Z-axis in place, and the angle encoder can detect the 90-degree flip and rotation. In this way, the device can perform Works automatically.

Referring to FIG. 5 , the left and right ends of the pitch bearing support frame 222 are provided with a plurality of pin holes 223 for matching with the positioning pins 224. According to the model and size of the pitch bearing, the positioning pins 224 can be installed in the corresponding inside the pin hole 223, so that the application scope of the present invention is wider. A support beam 226 is arranged in the middle of the pitch bearing support frame 222, which can effectively enhance the rigidity of the equipment. The lower end of the chassis 201 is evenly provided with a plurality of bottom plates 202, the bottom plate 202 is provided with connecting through holes, and fixing bolts are arranged in the connecting through holes, and the fixing bolts are connected with the workshop floor, so that the present invention is more stable.

Referring to FIG. 1, the pitch bearing bolt pre-tightening device 300 includes a pre-tightening six-axis joint arm robot 301, an electric wrench 302 and an industrial camera disposed at the front end of the pre-tightening six-axis joint arm robot 301, and an industrial camera. A bolt material cart 303 is also provided on the side.

During work, the pre-tightening six-axis joint arm robot 301 runs according to the set trajectory, uses an industrial camera to identify the position of the bolt, and adjusts the moving position of the electric wrench 302 . Pre-tighten the six-axis joint arm robot 301, move the electric wrench 302 to the bolt material cart 303, remove the bolts from the bolt material cart 303 through the socket at the front end of the electric wrench 302, and take the bolts to the corresponding flange of the wind turbine hub for installation Put the rods of the bolts into the corresponding screw holes on the flange surface of the wind turbine hub and the pitch bearing, and pre-tighten them, and then the electric wrench 302 is withdrawn, and the cycle works.

As shown in FIGS. 8 and 9 , the pitch bearing bolt hydraulic tightening device 400 includes two six-axis joint arm robots 421 , a floating connection mechanism 420 connected to the front end of each six-axis joint arm robot 421 , and a floating connection mechanism 420 connected to the floating connection The hydraulic wrench 403 at the front end of the mechanism 420, the floating connection mechanism 420 includes a cylinder connecting plate 414, a buffer cylinder fixedly arranged at the front end of the cylinder connecting plate 414, and at least two linear bearing outer casings 415 fixedly arranged on the side of the buffer cylinder, arranged on each linear The linear bearing 410 in the bearing housing 415, the linear guide rod 409 connected to each linear bearing 410, the housing connection seat 411 fixedly connected to the front end of the piston rod of the buffer cylinder, the universal ball fixedly connected to the front end of the housing connection seat 411 The housing 408, the universal ball mounting seat 419 arranged in the universal ball housing 408, the universal ball 407 installed in the universal ball mounting seat 419, the The semi-circular copper sleeve 405 fixedly connected with the universal ball 407, the wrench connecting arm 406 fixedly arranged in the middle of the semi-circular copper sleeve 405, the hydraulic wrench connecting seat 404 fixedly connected to the front end of the wrench connecting arm 406, the cylinder connecting plate 414 and the six-axis joint The front end of the arm robot 421 is connected, the front end of the linear guide rod 409 is connected to the universal ball housing 408, the hydraulic wrench 403 is connected to the front end of the hydraulic wrench connecting seat 404, and the outer side of the buffer cylinder is provided with a reaction force arm cylinder 418.

Referring to FIGS. 8 and 9 , the cylinder connecting plate 414 is connected with a laser range finder bracket 416 , and the laser range finder bracket 416 is connected with a laser range finder 417 .

The front end of the hydraulic wrench 403 is provided with a torque sensor 402 , the front end of the torque sensor 402 is provided with a bolt sleeve 401 , and the hydraulic wrench 403 is connected with a reaction force arm 422 . The center of the torque sensor 402 is concentric with the center of the bolt sleeve 401, and the rotation of the torque sensor 402 drives the bolt sleeve 401 to rotate to tighten the bolt.

When working, the two six-axis joint arm robots 421 work at the same time, and each time two bolts are tightened at the same time, and the two bolts tightened at the same time are symmetrical with the center of the flange surface. The six-axis articulated arm robot 421 runs according to the set trajectory, uses the laser range finder 417 to measure the hexagonal head of the bolt, and adjusts the angle of the hydraulic wrench 403 . The bolt sleeve 401 moves to the position of the bolt that needs to be tightened, and the bolt sleeve 401 presses the bolt. At this time, the linear guide rod 409, the piston 413 and the piston rod are in a backward state, and the hydraulic pump station is activated. The torque sensor 402 and the bolt sleeve The rotation of 401 centers the hexagonal head of the bolt, and at the same time, the piston 413 in the cylinder housing 412 drives the piston rod and the linear guide rod 409 to extend forward, so that the bolt sleeve 401 is automatically pressed into the bolt. The arm cylinder 418 is opened, and the hydraulic wrench 403 is pushed out of the reaction arm as a support, and the hydraulic wrench 403 tightens the bolts according to the set torque value, and so on and so forth.

There is a small gap between the semi-circular copper sleeve 405 and the opening in the middle of the front end of the universal ball housing 408, so that the universal ball 407, the semi-circular copper sleeve 405 and the wrench connecting arm 406 are universally moved, and the hydraulic wrench 403 connecting plate can be moved. Vientiane floats, which can be adjusted by appropriate automatic micro-motion. During the process of tightening the bolts, the piston rod of the buffer cylinder is always in the extended state, and the air in the cylinder has a buffering effect, which can keep the movement stable during the process of tightening the bolts. When the center of the front end of the six-axis articulated arm robot 421 and the center of the hydraulic wrench 403 are not concentric, within the allowable eccentricity range, the device can maintain normal operation, eliminate the interference caused by connection errors, avoid damage to the equipment, and ensure the use of the equipment. life.

Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than limiting the protection scope of the present invention. The essence and scope of the technical solution of the invention.

Claims (10)

1. a kind of wind power hub assembly line system, it is characterised in that: the wind power hub assembly line system includes being used to support, being fixed Position wind power hub simultaneously rotates 120 degree of servo turntable every time with wind power hub and is uniformly arranged on around servo turntable Pitch variable bearings turn over contraposition mounting device, pitch variable bearings bolt pre-screwing device and pitch variable bearings bolt hydraulic fastener, The servo turntable includes pedestal, the supporting wheel above pedestal, the turntable being set between supporting wheel and pedestal Bearing, be uniformly arranged on supporting wheel top at least three support positioning seats and the servo motors that are set on pedestal, institute Stating turntable bearing includes inner ring and the outer gear ring for being set to inner ring excircle, and the inner ring is connect by bolt with the pedestal, The outer gear ring is connect by bolt with the supporting wheel, and the power output shaft of the servo motor is connected with driving gear, The driving gear is engaged with the outer gear ring, and the pedestal is uprightly provided with close to switch, the lower surface of the supporting wheel It is uniformly arranged close to switch there are three metal detection block corresponding to described, the pedestal is provided with cylinder, and the pedestal is in described It is provided with guide holder above cylinder, which is provided centrally with pilot hole, and the piston rod upper end of the cylinder is connected with fixed Position pin, the positioning pin protrudes into the pilot hole, and the supporting wheel corresponds to the positioning pin and is uniformly arranged that there are three fixed Position seat, the positioning seat are provided centrally with dowel hole.

2. wind power hub assembly line system according to claim 1, it is characterised in that: the side of the supporting wheel is arranged There is initial position scale, the pedestal is equipped with upright pointer by hand rest, and the pointer is located at the initial position mark The lower section of ruler.

3. wind power hub assembly line system according to claim 2, it is characterised in that: the supporting wheel is in the positioning The side of seat is provided with L-shaped calibration block, and the calibration block is provided with screw hole, adjusting spiral shell is connected in the screw hole of the calibration block The side of the positioning seat is supported in bolt, the front end for adjusting bolt, and the supporting wheel is provided with connection through-hole, the positioning Fixing bolt is provided in the installation through-hole of seat, fixing bolt passes through the connection through-hole and connect with nut, the connection through-hole Aperture be greater than the fixing bolt screw diameter.

4. wind power hub assembly line system according to claim 3, it is characterised in that: the support positioning seat includes by cross The L-shaped structure part constituted to portion and erection part, the upper surface of the transverse part is provided with wheel hub positioning pin, the top of the erection part The ring flange inner periphery that end corresponds to the wind power hub lower end is provided with guiding surface.

5. wind power hub assembly line system according to claim 4, it is characterised in that: the pedestal is connected with by mandrel Oiling gear, the oiling gear are engaged with the outer gear ring, and the mandrel is provided with mandrel oil transportation duct, and the mandrel is provided with With the fuel feed hole of mandrel oil transportation hole link, the fuel feed hole and oil circuit connection, the oiling gear are provided with oil transportation duct, described The oil transportation duct of oiling gear and the mandrel oil transportation hole link, the flank of tooth of the oiling gear is provided with to be connected with oil transportation duct Logical oil outlet.

6. wind power hub assembly line system according to claim 1, it is characterised in that: the pitch variable bearings turn over contraposition peace Assembling device includes chassis, the X axis guide rail being set on chassis, the X axis mounting base being set on X axis guide rail, is set to X The X axis driving mechanism for driving X axis mounting base to move along X axis between axially mounted seat and chassis is set to X-axis Y-axis guide rail in mounting base, the Y-axis rack being set on Y-axis guide rail are set to Y-axis rack and X axis is installed Seat between for drive Y-axis rack along the Y-axis driving mechanism that Y-axis moves, the Z axis being set in Y-axis rack to Guide rail, the lifting seat being set on Z axis direction guiding rail, be set between lifting seat and Y-axis rack for driving lifting seat along Z The Z axis axially gone up and down is installed on the rollover stand of lifting seat to driving mechanism, rotatably, is installed on turning over for driving for lifting seat Pivoted frame overturning turnover driving mechanism, rotatably be installed on rollover stand top pitch variable bearings support frame and be installed on overturning The rotary motion mechanism for driving pitch variable bearings support frame to turn round on frame, the left and right ends portion of the pitch variable bearings support frame It is provided with electromagnet and alignment pin.

7. wind power hub assembly line system according to claim 6, it is characterised in that: the X axis driving mechanism includes The X axis rack gear that is set on chassis is set to the X axis servo motor of X axis mounting base and is set to X axis servo motor Power output end X axis gear, the X axis gear engages with the X axis rack gear；The Y-axis driving mechanism packet The Y-axis rack gear being set in X axis mounting base is included, the Y-axis servo motor of Y-axis rack is set to and is set to Y-axis The Y-axis gear of the power output end of servo motor, the Y-axis gear are engaged with the Y-axis rack gear；The Z axis is to drive Motivation structure include the front surface for being set to Y-axis rack Z axis to rack gear, be set to the Z axis of lifting seat to servo motor and set Be placed in power output end from Z axis to servo motor Z axis to gear, the Z axis is engaged with the Z axis to rack gear to gear, institute The top for stating Y-axis rack is provided with pulley by pulley base, and the back side of the Y-axis rack is provided with counterweight chamber, the counterweight Intracavitary to be provided with clump weight, the lifting seat is connected with wirerope, which is connect by the pulley with the clump weight； The turnover driving mechanism includes overturning motor and overturning speed reducer, and the overturning speed reducer is installed on the lifting seat, described The power output end for overturning motor is connect with the power intake of the overturning speed reducer, the power output of the overturning speed reducer End is connect with the rollover stand；The rotary motion mechanism includes turning motor and rotary reducer, the rotary reducer peace Loaded on the rollover stand, the power output end of the turning motor is connect with the power intake of the rotary reducer, described The power output end of rotary reducer is connect with the pitch variable bearings support frame.

8. wind power hub assembly line system according to claim 1, it is characterised in that: the pitch variable bearings bolt pre-screwing Device includes six axis joint arm robot of pre-screwing and electronic the pulling for being set to six axis joint arm robot front end of pre-screwing The side of hand and industrial camera, the pitch variable bearings bolt pre-screwing device is additionally provided with bolt materials vehicle.

9. wind power hub assembly line system according to claim 1, it is characterised in that: the pitch variable bearings bolt is hydraulic tight It is fixedly mounted with and sets the floating including two six axis joint arm robots, the front end for being connected to each six axis joints arm robot Bindiny mechanism and the hydraulic spanner for being connected to floating connection mechanism front end, the floating connection mechanism include cylinder connecting plate, consolidate Surely it is set to the bounce cylinder of cylinder connection front edge of board, is fixedly installed on outside at least two linear bearings of bounce cylinder side The linear bearing that cover, is set in each linear bearing housing, the connection of each linear bearing linear guide, be fixedly connected on it is slow The shell attachment base of the piston rod front end of qi of chong channel ascending adversely cylinder, is set to ten thousand at the universal global shell for being fixedly connected on shell attachment base front end To the intracorporal universal ball mounting seat of spherical shell, the multi-directional ball being installed in universal ball mounting seat, the front end for being set to universal global shell At intermediate openings with the semicircle copper sheathing that multi-directional ball is fixedly connected, the spanner linking arm being fixedly installed in the middle part of semicircle copper sheathing and solid Surely the hydraulic spanner attachment base of spanner linking arm front end, the cylinder connecting plate and the six axis joints arm robot are connected to Front end connection, the front end of the linear guide connect with the universal global shell, and the hydraulic spanner is connected to described hydraulic The front end of spanner attachment base is provided with reaction arm of force cylinder on the outside of the bounce cylinder.

10. wind power hub assembly line system according to claim 9, it is characterised in that: the cylinder connecting plate is connected with Bracket for laser range finder, the bracket for laser range finder are connected with laser range finder.