CN109973337A - Pitch variable bearings bolt hydraulic fastener - Google Patents
Pitch variable bearings bolt hydraulic fastener Download PDFInfo
- Publication number
- CN109973337A CN109973337A CN201910365625.0A CN201910365625A CN109973337A CN 109973337 A CN109973337 A CN 109973337A CN 201910365625 A CN201910365625 A CN 201910365625A CN 109973337 A CN109973337 A CN 109973337A
- Authority
- CN
- China
- Prior art keywords
- spanner
- hydraulic
- cylinder
- universal
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007667 floating Methods 0.000 claims abstract description 14
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 11
- 229910052802 copper Inorganic materials 0.000 claims abstract description 11
- 239000010949 copper Substances 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/70—Bearing or lubricating arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
A kind of pitch variable bearings bolt hydraulic fastener, including two six axis joint arm robots, the floating connection mechanism for being connected to the front end of each six axis joints arm robot and the hydraulic spanner for being connected to floating connection mechanism front end, floating connection mechanism includes the bounce cylinder for being fixedly installed on cylinder connection front edge of board, it is fixedly installed at least two linear bearing housings of bounce cylinder side, the linear bearing being set in each linear bearing housing, the linear guide of each linear bearing connection, it is fixedly connected on the universal global shell of the piston rod front end of bounce cylinder, the multi-directional ball being set in the universal ball mounting seat of universal global shell, it is set to the semicircle copper sheathing of the front center opening of universal global shell being fixedly connected with multi-directional ball, the spanner linking arm that is fixedly installed in the middle part of semicircle copper sheathing and it is fixedly connected on spanner linking arm front end Hydraulic spanner attachment base.The present invention can keep stable action during fastening bolt, ensure that service life of equipment.
Description
Technical field
The present invention relates to wind-driven generator production equipment technologies, and in particular to a kind of pitch variable bearings bolt hydraulic fixing
Device.
Background technique
In the prior art, the process that pitch variable bearings are installed in the wheel hub of direction wind-driven generator is usually required by operating personnel
It has been manually done.When installation, pitch variable bearings are lifted by crane by driving, adjust position and the angle of pitch variable bearings, operating personnel is hand-held to be turned round
Square spanner is climbed up auxiliary ladder and is installed one by one to bolt.Wheel hub is uniformly distributed there are three flange face, and operating personnel needs to divide
Not Qi Diao three pitch variable bearings assembled to each flange face, extremely inconvenient, working efficiency is low, there is the quality risk that collides with,
There are larger security risks.
Therefore, a kind of wind power hub assembly system that can complete the installation of wheel hub pitch variable bearings is needed in the prior art.By
Wind power hub is placed on support turntable by numerous studies discovery, is uniformly arranged pitch variable bearings pair around support turntable
Position installation, bolt pre-screwing, the mode of bolt fastening 3 automatic installation stations are the most reasonable, support turntable with wind-powered electricity generation wheel
Hub rotates 120 degree every time, carries out the conversion of different station.In bolt fastening station, by two six axis joint arm robot groups
At the front end of the two six axis joint arm robots is provided with hydraulic spanner, and two six axis joint arm robots are each
Carry out two bolts simultaneously tightens work, while two tightened bolt, with the central symmetry of flange face.
However, when the front end center of six axis joint arm robots with hydraulic spanner center because connecting error bias when, meeting
Cause equipment work unstable, during the work time, causes the key components and parts of hydraulic spanner and six axis joint arm robots
Bending, deformation, sealing part abrasion, reduce hydraulic spanner performance, shorten mechanical arm service life.
Therefore, a kind of pitch variable bearings bolt hydraulic fastener is needed in the prior art, which makes in six axis joints
When the front end center of arm robot and the decentraction of hydraulic spanner center, device can work normally in the extent of the error of permission,
It works more steady, ensure that service life of equipment.
Summary of the invention
The object of the present invention is to overcome the deficiencies of the prior, provides a kind of pitch variable bearings bolt hydraulic fixing
Device, the device make in front end center and the decentraction of hydraulic spanner center of six axis joint arm robots, and device is being permitted
Perhaps it can be worked normally in extent of the error, work more steady, ensure that service life of equipment.
The present invention is achieved by the following technical solutions: a kind of pitch variable bearings bolt hydraulic fastener, including two
Six axis joint arm robots, be connected to each six axis joints arm robot front end floating connection mechanism and connection
Hydraulic spanner in floating connection mechanism front end, the floating connection mechanism include cylinder connecting plate, are fixedly installed on cylinder company
The bounce cylinder of fishplate bar front end, at least two linear bearing housings for being fixedly installed on bounce cylinder side, be set to it is each straight
The linear guide of linear bearing, the connection of each linear bearing in line bearing outside, the piston rod for being fixedly connected on bounce cylinder
The shell attachment base of front end, the universal global shell for being fixedly connected on shell attachment base front end, be set in universal global shell ten thousand
To ball mounting seat, the multi-directional ball being installed in universal ball mounting seat, be set to universal global shell front center opening with
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 it is fixedly connected on spanner company
The hydraulic spanner attachment base of arm front end is connect, the cylinder connecting plate is connect with the front end of the six axis joints arm robot, institute
The front end for stating linear guide is connect with the universal global shell, before the hydraulic spanner is connected to the hydraulic spanner attachment base
It holds, is provided with reaction arm of force cylinder on the outside of the bounce cylinder.
The cylinder connecting plate is connected with bracket for laser range finder, which is connected with laser range finder.
The front end of the hydraulic spanner is provided with torque sensor, and the front end of the torque sensor is provided with bolt sleeve
Cylinder, the hydraulic spanner are connected with the reaction arm of force.
The beneficial effects of the present invention are: the present invention can keep stable action during fastening bolt, when six axis joints
When the front end center of arm robot and the decentraction of hydraulic spanner center, in the extent of the error of permission, device can keep normal
Work is eliminated because of interference phenomenon caused by connection error, ensure that service life of equipment.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of floating connection mechanism.
In figure: 1- bolt collar；2- torque sensor；3- hydraulic spanner；4- hydraulic spanner attachment base；5- semicircle copper
Set；6- spanner linking arm；7- multi-directional ball；The universal global shell of 8-；9- linear guide；10- linear bearing；11- shell attachment base；
12- cylinder shell；13- piston；14- cylinder connecting plate；15- linear bearing housing；16- bracket for laser range finder；17- Laser Measuring
Distance meter；18- reaction arm of force cylinder；The universal ball mounting seat of 19-；20- floating connection mechanism；Six axis joint arm robot of 21-；
The 22- reaction arm of force.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in detail.
As shown in Figure 1 and Figure 2, a kind of pitch variable bearings bolt hydraulic fastener, including two six axis joint arm robots
21, it is connected to the floating connection mechanism 20 of the front end of each six axis joints arm robot 21 and is connected to floating connection mechanism 20
The hydraulic spanner 3 of front end, floating connection mechanism 20 include cylinder connecting plate 14, are fixedly installed on the slow of 14 front end of cylinder connecting plate
Qi of chong channel ascending adversely cylinder, is set to each linear bearing housing at at least two linear bearing housings 15 for being fixedly installed on bounce cylinder side
The linear guide 9 of linear bearing 10, the connection of each linear bearing 10 in 15, the piston rod front end for being fixedly connected on bounce cylinder
Shell attachment base 11, be fixedly connected on 11 front end of shell attachment base universal global shell 8, be set in universal global shell 8
Universal ball mounting seat 19, the multi-directional ball 7 being installed in universal ball mounting seat 19, the front center for being set to universal global shell 8 are opened
The semicircle copper sheathing 5 being fixedly connected with multi-directional ball 7, the spanner linking arm 6 for being fixedly installed on 5 middle part of semicircle copper sheathing and fixation at mouthful
The hydraulic spanner attachment base 4 of 6 front end of spanner linking arm is connected to, before cylinder connecting plate 14 and six axis joint arm robots 21
End connection, the front end of linear guide 9 are connect with universal global shell 8, and hydraulic spanner 3 is connected to the front end of hydraulic spanner attachment base 4,
Reaction arm of force cylinder 18 is provided on the outside of bounce cylinder.
Referring to Fig. 1, Fig. 2, cylinder connecting plate 14 is connected with bracket for laser range finder 16, the bracket for laser range finder 16 connection
There is laser range finder 17.
The front end of hydraulic spanner 3 is provided with torque sensor 2, and the front end of torque sensor 2 is provided with bolt collar 1, liquid
Pressure spanner 3 is connected with the reaction arm of force 22.2 center of torque sensor and 1 center of bolt collar keep concentric, torque sensing
The rotation of device 2 drives the rotation of bolt collar 1 to carry out fastening bolt.
When work, two six axis joint arm robots 21 are worked at the same time, and carry out two bolts simultaneously every time tightens work
Make, while two bolts tightened, with the central symmetry of flange face.Six axis joint arm robots 21 are run by setting track,
It carries out taking a measurement using hexagon-head of the laser range finder 17 to bolt, adjusts 3 angle of hydraulic spanner.Bolt collar 1 is mobile
The bolt location fastened to needs, 1 hold-down bolt of bolt collar, at this moment linear guide 9 and piston 13 and piston rod, which are in, retreats
State, hydraulic power unit starting, by the rotation of torque sensor 2 and bolt collar 1 by bolt hexagon-head centering, while cylinder
Piston 13 in shell 12 drives piston rod and linear guide 9 to forward extend out, and makes the automatic dump bolt of bolt collar 1, is pressed to
Position after, reaction arm of force cylinder 18 open, by 3 counter-force arm of hydraulic spanner eject as support, hydraulic spanner 3 according to setting torsion
Square value fastens bolt, loops back and forth like this work.
There are minim gaps between the front center of semicircle copper sheathing 5 and universal global shell 8 opening, so that multi-directional ball 7 and half
While circle copper sheathing 5, spanner 6 Universal active of linking arm, make 3 connecting plate of hydraulic spanner can everything float, can be appropriate automatic micro-
Dynamic adjustment, during tightening bolt, the piston rod of bounce cylinder is constantly in stretching state, and the air in cylinder body has buffering
Effect, stable action can be kept during fastening bolt in this way, when six axis joint arm robots 21 front end center with
When 3 center decentraction of hydraulic spanner, in the extent of the error of permission, device can keep working normally, and eliminate because connecting error institute
The interference phenomenon of generation avoids damage equipment, ensure that service life of equipment.
Finally it should be noted that the above content is merely illustrative of the technical solution of the present invention, rather than the present invention is protected
The limitation of range, the simple modification or equivalent replacement that those skilled in the art carry out technical solution of the present invention,
All without departing from the spirit and scope of technical solution of the present invention.
Claims (3)
1. a kind of pitch variable bearings bolt hydraulic fastener, including two six axis joint arm robots, it is characterised in that: also wrap
Before including the floating connection mechanism for being connected to the front end of each six axis joints arm robot and being connected to floating connection mechanism
The hydraulic spanner at end, the floating connection mechanism include cylinder connecting plate, the buffering gas for being fixedly installed on cylinder connection front edge of board
Cylinder, at least two linear bearing housings for being fixedly installed on bounce cylinder side, be set to it is straight in each linear bearing housing
Spool holds, the linear guide of each linear bearing connection, be fixedly connected on bounce cylinder piston rod front end shell attachment base,
It is fixedly connected on the universal global shell of shell attachment base front end, the universal ball mounting seat being set in universal global shell, is installed on
Multi-directional ball in universal ball mounting seat, be set to universal global shell front center opening half be fixedly connected with multi-directional ball
Circle copper sheathing, the spanner linking arm being fixedly installed in the middle part of semicircle copper sheathing and the hydraulic spanner for being fixedly connected on spanner linking arm front end
Attachment base, the cylinder connecting plate are connect with the front end of the six axis joints arm robot, the front end of the linear guide with
The universal global shell connection, the hydraulic spanner are connected to the front end of the hydraulic spanner attachment base, the bounce cylinder
Outside is provided with reaction arm of force cylinder.
2. pitch variable bearings bolt hydraulic fastener according to claim 1, it is characterised in that: the cylinder connecting plate connects
It is connected to bracket for laser range finder, which is connected with laser range finder.
3. pitch variable bearings bolt hydraulic fastener according to claim 2, it is characterised in that: before the hydraulic spanner
End is provided with torque sensor, and the front end of the torque sensor is provided with bolt collar, and the hydraulic spanner is connected with anti-work
Use the arm of force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910365625.0A CN109973337A (en) | 2019-05-02 | 2019-05-02 | Pitch variable bearings bolt hydraulic fastener |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910365625.0A CN109973337A (en) | 2019-05-02 | 2019-05-02 | Pitch variable bearings bolt hydraulic fastener |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109973337A true CN109973337A (en) | 2019-07-05 |
Family
ID=67087557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910365625.0A Pending CN109973337A (en) | 2019-05-02 | 2019-05-02 | Pitch variable bearings bolt hydraulic fastener |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109973337A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4063647A1 (en) | 2021-03-26 | 2022-09-28 | Siemens Gamesa Renewable Energy A/S | Tightening device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1584068A (en) * | 1976-10-19 | 1981-02-04 | Junkers J | Hydraulic wrench |
| US4619160A (en) * | 1984-04-07 | 1986-10-28 | Paul-Heinz Wagner | Power wrench |
| JPH09123030A (en) * | 1995-10-31 | 1997-05-13 | Ishikawajima Harima Heavy Ind Co Ltd | Segment bolt fastening machine |
| TW201129445A (en) * | 2010-02-26 | 2011-09-01 | Kabo Tool Co | T-spanner |
| CN106475770A (en) * | 2016-12-14 | 2017-03-08 | 大连扬天科技有限公司 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
| CN206588977U (en) * | 2017-03-02 | 2017-10-27 | 北京金风科创风电设备有限公司 | Attachment means |
| CN209855976U (en) * | 2019-05-02 | 2019-12-27 | 国电联合动力技术(赤峰)有限公司 | Become oar bearing bolt hydraulic pressure fastener |
-
2019
- 2019-05-02 CN CN201910365625.0A patent/CN109973337A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1584068A (en) * | 1976-10-19 | 1981-02-04 | Junkers J | Hydraulic wrench |
| US4619160A (en) * | 1984-04-07 | 1986-10-28 | Paul-Heinz Wagner | Power wrench |
| JPH09123030A (en) * | 1995-10-31 | 1997-05-13 | Ishikawajima Harima Heavy Ind Co Ltd | Segment bolt fastening machine |
| TW201129445A (en) * | 2010-02-26 | 2011-09-01 | Kabo Tool Co | T-spanner |
| CN106475770A (en) * | 2016-12-14 | 2017-03-08 | 大连扬天科技有限公司 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
| CN206588977U (en) * | 2017-03-02 | 2017-10-27 | 北京金风科创风电设备有限公司 | Attachment means |
| CN209855976U (en) * | 2019-05-02 | 2019-12-27 | 国电联合动力技术(赤峰)有限公司 | Become oar bearing bolt hydraulic pressure fastener |
Non-Patent Citations (2)
| Title |
|---|
| 严宇;张颉;吴功平;刘夏清;: "高压输电线路螺栓紧固机器人结构设计与动力学分析", 机械设计与制造, no. 09 * |
| 徐勋伟;杨志强;: "大扭矩液压扳手仿真研究", 南方农机, no. 10 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4063647A1 (en) | 2021-03-26 | 2022-09-28 | Siemens Gamesa Renewable Energy A/S | Tightening device |
| CN115122081A (en) * | 2021-03-26 | 2022-09-30 | 西门子歌美飒可再生能源公司 | Tightening device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190705 |
|
| WD01 | Invention patent application deemed withdrawn after publication |