CN111590310A - Robot assembly platform and method for wind driven generator yaw system - Google Patents
Robot assembly platform and method for wind driven generator yaw system Download PDFInfo
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- CN111590310A CN111590310A CN202010387353.7A CN202010387353A CN111590310A CN 111590310 A CN111590310 A CN 111590310A CN 202010387353 A CN202010387353 A CN 202010387353A CN 111590310 A CN111590310 A CN 111590310A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
Abstract
A robot assembly platform for a yaw system of a wind driven generator comprises a supporting platform for fixing a yaw bearing of a fan and an assembly robot for bolt fastening of the yaw bearing, wherein the assembly robot comprises a rotating base and a joint robot rotatably mounted on the rotating base, the joint robot is rotatably mounted on the rotating base through a rotating plate, and a hydraulic wrench for bolt fastening is mounted on the joint robot through a floating paw; a positioning clamp matched with the fan yaw bearing is arranged on the supporting platform; the assembling robots are at least two and are respectively arranged on the side parts of the supporting platform. This platform reasonable in design, degree of automation are high, through positioning fixture's setting, when fixed to the driftage bearing, can cooperate the assembly robot again to carry out the bolt-up to still can take the assembly mode of wheel, realized the quick, the automatic fastening of driftage bearing bolt.
Description
Technical Field
The invention relates to the field of automatic assembly, in particular to a robot assembly platform of a yaw system of a wind driven generator and an assembly method of the robot assembly platform of the yaw system of the wind driven generator.
Background
At present, the development of wind power market in China is rapid, wind power technology is continuously innovated and tends to be mature, and the development of the whole industry drives the technical progress of each link of production and manufacturing.
With the development of a low-wind-speed large-megawatt-level fan, the diameter of the fan is gradually increased, so that the diameter of a yaw bearing connected with a fan tower barrel is increased, the larger the diameter of the yaw bearing is, the more bolts are mounted, generally, at least dozens of bolts need to be fastened for one yaw bearing, the assembly mode adopted in the prior art is still manually completed by operators, the labor intensity of the operators is high, time and labor are wasted, and the assembly efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a robot assembly platform of a yaw system of a wind driven generator, which has the advantages of reasonable design, high automation degree and capability of effectively improving the bolt fastening efficiency of a yaw bearing.
The invention also provides an assembling method of the robot assembling platform of the wind driven generator yaw system.
The technical problem to be solved by the present invention is achieved by the following technical means. The invention relates to a robot assembly platform of a wind driven generator yaw system, which comprises: the assembling platform comprises a supporting platform for fixing a fan yaw bearing and an assembling robot for performing bolt fastening on the yaw bearing, wherein the assembling robot comprises a rotating base and a joint robot rotatably installed on the rotating base, the joint robot is rotatably installed on the rotating base through a rotating plate, and a hydraulic wrench for bolt fastening is installed on the joint robot through a floating paw; a positioning clamp matched with the fan yaw bearing is arranged on the supporting platform;
the assembling robots are arranged at least two and are respectively arranged at the side parts of the supporting platform;
this assembly platform still includes the safety barrier who encloses support platform and assembly robot and separate, sets up the loading and unloading mouth of being convenient for driftage bearing installation and transport on the safety barrier of support platform side, still sets up the exit of being convenient for operating personnel business turn over on the installation guardrail of assembly robot side, and exit department installs the emergency exit, installs the electronic lock on the emergency exit.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, the assembly platform also comprises a control system for comprehensively controlling the support platform and the assembly robot, the control system comprises a control box, a controller is installed in the control box, and a touch screen convenient for information display and instruction input is installed on a cabinet door of the control box.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, a visual sensor convenient for monitoring the position of a yaw bearing bolt is also arranged on the assembly robot, and a three-dimensional space tracking positioner is also arranged on a hydraulic wrench.
The technical problem to be solved by the invention can be further solved by adopting the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, the floating paw comprises a tapered disc and an installation disc convenient for installing a hydraulic wrench, a spherical shaft head is fixedly installed on the tapered disc, a spherical shaft sleeve matched with the spherical shaft head is installed on the installation disc, a limiting rod for preventing the installation disc and the tapered disc from rotating relatively is also installed on the installation disc, and a limiting hole matched with the limiting rod is formed in the tapered disc.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, a pressure sensor is installed at the end part of the hydraulic wrench, and a torque sensor is also installed at the connection part of the hydraulic wrench and the floating paw.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, two support platforms and two assembly robots are arranged, and the two assembly robots and the two support platforms are arranged in a diagonal manner.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, the positioning clamp is in a right-angle trapezoidal table shape, the positioning pin convenient for positioning the yaw bearing is screwed on the positioning clamp, and the side part of the positioning clamp is provided with the mounting plate with a threaded hole convenient for being fixed on the supporting platform.
The technical problem to be solved by the invention can be further solved by adopting the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, the rotating plate is rectangular, the joint robot is fixedly arranged at one end of the rotating plate, the other end of the rotating plate is arranged on the rotating base through the rotating shaft, and the rotating base is also provided with the rotating motor for driving the rotating shaft to rotate.
The technical problem to be solved by the invention can be further realized by the following technical scheme that for the robot assembly platform of the wind driven generator yaw system, safety gratings are arranged on safety guardrails at the loading and unloading port and the inlet and outlet.
The technical problem to be solved by the invention can be further realized by the following technical scheme, and for the robot assembly platform of the yaw system of the wind driven generator, the assembly method of the robot assembly platform of the yaw system of the wind driven generator comprises the following steps:
(1) starting the assembly platform, and switching the operation mode of the assembly robot into an automatic operation mode;
(2) an operator conveys the yaw bearing passing through the manual preformed bolt to a supporting platform, adjusts and installs the yaw bearing on a positioning clamp, and positions the yaw bearing by utilizing a bottom surface pin hole of the yaw bearing to ensure that a bearing surface is opposite to an assembling robot;
(3) an operator exits from the safety fence, selects a product code number and a working area on the touch screen, then opens the control button of the console with two hands, the assembly robot moves to the working area, manually confirms that the working area is not interfered again, presses the start button, and the assembly robot starts to work;
(4) the assembling robot sets a track according to a program, performs point taking measurement on the bearing surface of the yaw bearing, and calculates the offset between the bearing surface and a coordinate set by the program, so that the posture of the hydraulic wrench is adjusted, and the hydraulic wrench is moved to a first bolt position needing to be fastened;
(5) a hydraulic wrench compresses a bolt, a hydraulic valve station is started, the bolt is automatically pressed in through the rotation of a hydraulic wrench sleeve, after the bolt is compressed in place, a cylinder pushes out a reaction torque to be close to a supporting bolt, and a hydraulic pump control system fastens according to a torque value and time set for the wrench;
(6) the two robots are grouped according to every five bolts, and after the first fastening of all the bolts is finished at the opposite corners, the second fastening is carried out again from the first bolt according to the set torque;
(7) after the bolt fastening is completed, the robot returns to the initial point, waits for an operator to replace the yaw bearing, and performs the operation again, and the operation is repeated.
Compared with the prior art, the yaw bearing is fixed on the supporting platform by using the positioning fixture, so that the assembling robot can conveniently perform bolt fastening, and the assembling robot is provided with two devices, so that the bolt fastening can be simultaneously performed on the bearing surface of one yaw bearing along opposite angles, the fastening efficiency is high, and the bearing surface of the yaw bearing cannot deviate when the bolt is fastened; secondly, this application still is provided with two robots and two supporting platform, and what take is the mode of wheel, and two robots carry out the bolt-up to same driftage bearing simultaneously promptly, when fastening the driftage bearing on a supporting platform, do not delay the change of the driftage bearing on another supporting platform, have improved work efficiency greatly. This platform reasonable in design, degree of automation are high, through positioning fixture's setting, when fixed to the driftage bearing, can cooperate the assembly robot again to carry out the bolt-up to still can take the assembly mode of wheel, realized the quick, the automatic fastening of driftage bearing bolt.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a bottom view of one configuration of the present invention;
FIG. 3 is a schematic diagram of the floating paw of the present invention;
FIG. 4 is a schematic structural diagram of the positioning fixture of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, a robot assembly platform for a yaw system of a wind driven generator comprises a support platform 1 for fixing a yaw bearing of a fan and an assembly robot for fastening the yaw bearing through bolts, wherein the assembly robot comprises a rotating base 3 and a joint robot 5 rotatably mounted on the rotating base 3, the joint robot 5 is rotatably mounted on the rotating base 3 through a rotating plate 4, and a hydraulic wrench 7 for fastening the bolts is mounted on the joint robot 5 through a floating paw 6; a positioning clamp 2 matched with the fan yaw bearing is arranged on the supporting platform 1; the joint robot 5 is a joint robot 5 with six rotating shafts in the prior art, and can drive a hydraulic wrench 7 to rotate freely to fasten bolts on a yaw bearing; the height of the rotating plate 4 is higher than that of the supporting platform 1 and is higher than that of a yaw bearing arranged on the supporting platform 1, so that a hydraulic wrench 7 can fasten bolts on the yaw bearing from above conveniently; the arrangement of the positioning clamp 2 facilitates horizontal installation of the yaw bearing on the supporting platform 1, and the assembly robot can fasten bolts on the yaw bearing conveniently.
The assembling robots are at least two and are respectively arranged on the side parts of the supporting platform 1, so that bolt fastening can be conveniently carried out on the yaw bearing on the supporting platform 1 at the same time, and the fastening efficiency is improved.
This assembly platform still includes the guardrail 10 that encloses support platform 1 and assembly robot and separate, offers the loading and unloading mouth 11 that is convenient for driftage bearing installation and transport on the guardrail 10 of support platform 1 side, still offers the exit of being convenient for operating personnel business turn over on the installation guardrail of assembly robot side, and exit department installs emergency exit 13, installs electronic door lock on the emergency exit 13. The loading and unloading port 11 is used for an operator to install and replace the yaw bearing, and the safety door 13 is not arranged at the loading and unloading port 11, so that the yaw bearing can be conveniently replaced at any time; the electronic door lock locks the safety door 13, and only when the electronic door lock is stopped, the electronic door lock is unlocked, and an operator can open the safety door 13.
The assembly platform further comprises a control system for comprehensively controlling the supporting platform 1 and the assembly robot, the control system comprises a control box 14, a controller is installed in the control box 14, and a touch screen convenient for information display and instruction input is installed on a cabinet door of the control box 14. The control box 14 is arranged on the outer side of the installation guardrail, so that an operator can conveniently operate outside the safety guardrail 10; the controller adopts a PLC of Siemens series, and the specific model is selected by the technicians in the field according to the requirements; the electric control elements related in the application are all connected with the controller, so that the controller can receive detection signals or output instructions conveniently; the touch screen is arranged to facilitate information checking and operation instruction input of an operator; when needed, the remote controller can be controlled by the counterweight in an emergency mode and carried by an operator to carry out rapid operation.
And a visual sensor 8 convenient for monitoring the position of the yaw bearing bolt is further arranged on the assembling robot, and a three-dimensional space tracking positioner 9 is further arranged on the hydraulic wrench 7. The vision sensor 8 is a direct source of information of the whole machine vision system, mainly comprises one or two image sensors, and is sometimes matched with a light projector and other auxiliary equipment, the main function of the vision sensor 8 is to obtain enough most original images to be processed by the machine vision system, the vision sensor 8 is arranged for photographing the bearing surfaces of all yaw bearings and comparing the photographed images with pre-stored images, and the image comparison method adopts the method in the prior art, so that whether the position of a bolt on the bearing surface of the yaw bearing is consistent with the pre-set position or not is detected, and whether the bolt is neglected to be installed on an installation surface or not is judged; the three-dimensional space tracking positioner 9 is used for detecting the space position of the hydraulic wrench 7 in real time, so that the controller can operate the hydraulic wrench 7 to move to the position of the bolt to be fastened to fasten the bolt.
The floating paw 6 comprises a tapered disc 15 and a mounting disc 16 convenient for mounting the hydraulic wrench 7, a spherical shaft head 17 is fixedly mounted on the tapered disc 15, a spherical shaft sleeve matched with the spherical shaft head 17 is mounted on the mounting disc 16, a limiting rod 18 for preventing the mounting disc 16 and the tapered disc 15 from rotating relatively is further mounted on the mounting disc 16, and a limiting hole matched with the limiting rod 18 is formed in the tapered disc 15. The mounting disc 16 is mounted on the tapered disc 15 through the matching of the spherical shaft sleeve and the spherical shaft head 17, and the mounting disc 16 and the tapered disc 15 can swing to a certain extent, so that the hydraulic wrench 7 can be better sleeved on a bolt to be fastened; however, because the end of the limiting rod 18 is inserted into the limiting hole, the mounting disc 16 and the taper disc 15 cannot rotate relatively, and the hydraulic wrench 7 can rotate to fasten the bolt conveniently.
The end of the hydraulic wrench 7 is provided with a pressure sensor 20, and the joint of the hydraulic wrench 7 and the floating paw 6 is also provided with a torque sensor 19. The hydraulic wrench 7 comprises a wrench body, a hydraulic pump and a sleeve, wherein the pressure sensor 20 is arranged at the end part of the sleeve and is fully distributed at the end part of the whole pressure sensor 20, and the hydraulic wrench is used for detecting the pressure applied to the end part of the sleeve when the sleeve is sleeved on a bolt of the yaw bearing, so that the sleeve can be sleeved in place, and whether the sleeve is sleeved and deflected can be detected according to whether the pressure applied to the end part of the sleeve in the circumferential direction is uniform or not; the torque sensor 19 is used for detecting the torque of the hydraulic wrench 7 so as to judge whether the bolt is fastened in place.
Supporting platform 1 and assembly robot all are provided with two, and two assembly robots and two supporting platform 1 all are the diagonal angle setting. Two supporting platform 1 and two assembly robot set up along a circumference interval, and two supporting platform 1 diagonal angle set up, and two assembly diagonal angles set up, all set up the lateral part at two supporting platform 1 in two assembly robot equivalently, and two assembly robot of being convenient for carry out the bolt-up to the driftage bearing on a supporting platform 1 simultaneously, and after accomplishing a driftage bearing, can rotate the bolt-up that carries out the driftage bearing on another supporting platform 1 fast simultaneously.
Positioning fixture 2 is right angle halfpace form, and when installing on supporting platform 1, positioning fixture 2's inclined plane upwards sets up, is convenient for fix with the driftage bearing, and positioning fixture 2 top spin has connect the locating pin of being convenient for carry out the location to the driftage bearing, is provided with a plurality of locating holes 21 that the locating pin of being convenient for connects soon on positioning fixture 2, can be better cooperate with the driftage bearing of different models, and the mounting panel 22 of being convenient for fix the threaded hole on supporting platform 1 is installed to positioning fixture 2's lateral part. The mounting plate 22 is rectangular, and a plurality of threaded holes are formed in the supporting platform 1, so that the positioning clamp 2 can be conveniently mounted on the supporting platform 1 through bolts.
The rotary plate 4 is rectangular, the joint robot 5 is fixedly installed at one end of the rotary plate 4, the other end of the rotary plate 4 is installed on the rotary base 3 through a rotary shaft, and the rotary base 3 is further provided with a rotary motor for driving the rotary shaft to rotate. The rotating motor is connected with the rotating shaft in a transmission mode, the end portion of the rotating shaft is installed on the rotating base 3 through the bearing and the bearing seat, the rotating motor is convenient to drive the rotating shaft to drive the rotating plate 4 to rotate, 360-degree rotation can be conducted between the joint robot 5 and the rotating base 3, and the assembly area is changed.
An assembling method of a robot assembling platform of a yaw system of a wind driven generator comprises the following steps:
(1) starting the assembly platform, and switching the operation mode of the assembly robot into an automatic operation mode;
(2) an operator conveys the yaw bearing passing through the manual preformed bolt to a supporting platform, adjusts and installs the yaw bearing on a positioning clamp, and positions the yaw bearing by utilizing a bottom surface pin hole of the yaw bearing to ensure that a bearing surface is opposite to an assembling robot;
(3) an operator exits from the safety fence, selects a product code number and a working area on the touch screen, then opens the control button of the console with two hands, the assembly robot moves to the working area, manually confirms that the working area is not interfered again, presses the start button, and the assembly robot starts to work;
(4) the assembling robot sets a track according to a program, performs point taking measurement on the bearing surface of the yaw bearing, and calculates the offset between the bearing surface and a coordinate set by the program, so that the posture of the hydraulic wrench is adjusted, and the hydraulic wrench is moved to a first bolt position needing to be fastened;
when the platform is initially designed, a coordinate system is established by taking the control box as an original point, when one mounting surface of a rim is opposite to an assembling robot, the coordinates of bolts on the mounting surface are calculated, and the moving track of a hydraulic wrench for fastening the bolts is preset;
(5) a hydraulic wrench compresses a bolt, a hydraulic valve station is started, the bolt is automatically pressed in through the rotation of a hydraulic wrench sleeve, after the bolt is compressed in place, a cylinder pushes out a reaction torque to be close to a supporting bolt, and a hydraulic pump control system fastens according to a torque value and time set for the wrench;
(6) the two robots are grouped according to every five bolts, and after the first fastening of all the bolts is finished at the opposite corners, the second fastening is carried out again from the first bolt according to the set torque;
(7) after the bolt fastening is completed, the robot returns to the initial point, waits for an operator to replace the yaw bearing, and performs the operation again, and the operation is repeated.
If two supporting platforms are arranged, when the yaw bearing on one supporting platform is completed, the yaw bearing on the other supporting platform is rotated to the other supporting platform, the yaw bearing on the supporting platform is fastened by bolts, an operator carries out feeding and discharging hoisting work on the yaw bearing which is fastened by the bolts, the operator and the assembling robot carry out wheel movement work between the two supporting platforms, and automatic assembling of bolts of all the yaw bearings is completed according to the cyclic action of the steps.
Claims (10)
1. The utility model provides a aerogenerator driftage system robot assembly platform which characterized in that: the assembling platform comprises a supporting platform for fixing a fan yaw bearing and an assembling robot for performing bolt fastening on the yaw bearing, wherein the assembling robot comprises a rotating base and a joint robot rotatably installed on the rotating base, the joint robot is rotatably installed on the rotating base through a rotating plate, and a hydraulic wrench for bolt fastening is installed on the joint robot through a floating paw; a positioning clamp matched with the fan yaw bearing is arranged on the supporting platform;
the assembling robots are arranged at least two and are respectively arranged at the side parts of the supporting platform;
this assembly platform still includes the safety barrier who encloses support platform and assembly robot and separate, sets up the loading and unloading mouth of being convenient for driftage bearing installation and transport on the safety barrier of support platform side, still sets up the exit of being convenient for operating personnel business turn over on the installation guardrail of assembly robot side, and exit department installs the emergency exit, installs the electronic lock on the emergency exit.
2. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: the assembling platform further comprises a control system for comprehensively controlling the supporting platform and the assembling robot, the control system comprises a control box, a controller is installed in the control box, and a touch screen convenient for information display and instruction input is installed on a cabinet door of the control box.
3. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: the assembly robot is further provided with a visual sensor convenient for monitoring the position of the yaw bearing bolt, and the hydraulic wrench is further provided with a three-dimensional space tracking positioner.
4. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: the floating paw comprises a tapered disc and a mounting disc convenient for mounting a hydraulic wrench, wherein a spherical shaft head is fixedly mounted on the tapered disc, a spherical shaft sleeve matched with the spherical shaft head is mounted on the mounting disc, a limiting rod for preventing the mounting disc and the tapered disc from rotating relatively is further mounted on the mounting disc, and a limiting hole matched with the limiting rod is formed in the tapered disc.
5. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: a pressure sensor is installed at the end of the hydraulic wrench, and a torque sensor is further installed at the joint of the hydraulic wrench and the floating paw.
6. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: supporting platform and assembly robot all are provided with two, and two assembly robot and two supporting platform all are the diagonal angle setting.
7. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: positioning fixture is right angle halfpace form, and positioning fixture top spin has connect the locating pin of being convenient for carry out the location to the driftage bearing, and the mounting panel of being convenient for fix the threaded hole on the supporting platform is installed to positioning fixture's lateral part.
8. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: the joint robot is characterized in that the rotating plate is rectangular, the joint robot is fixedly installed at one end of the rotating plate, the other end of the rotating plate is installed on the rotating base through the rotating shaft, and the rotating base is further provided with a rotating motor used for driving the rotating shaft to rotate.
9. A wind turbine yaw system robotic assembly platform according to claim 1, wherein: safety gratings are arranged on safety guardrails at the loading and unloading port and the inlet and outlet.
10. An assembling method of a robot assembling platform of a wind driven generator yaw system is characterized by comprising the following steps: the method uses the robot assembly platform of the wind driven generator yaw system of any one of claims 1 to 9, and comprises the following steps:
(1) starting the assembly platform, and switching the operation mode of the assembly robot into an automatic operation mode;
(2) an operator conveys the yaw bearing passing through the manual preformed bolt to a supporting platform, adjusts and installs the yaw bearing on a positioning clamp, and positions the yaw bearing by utilizing a bottom surface pin hole of the yaw bearing to ensure that a bearing surface is opposite to an assembling robot;
(3) an operator exits from the safety fence, selects a product code number and a working area on the touch screen, then opens the control button of the console with two hands, the assembly robot moves to the working area, manually confirms that the working area is not interfered again, presses the start button, and the assembly robot starts to work;
(4) the assembling robot sets a track according to a program, performs point taking measurement on the bearing surface of the yaw bearing, and calculates the offset between the bearing surface and a coordinate set by the program, so that the posture of the hydraulic wrench is adjusted, and the hydraulic wrench is moved to a first bolt position needing to be fastened;
(5) a hydraulic wrench compresses a bolt, a hydraulic valve station is started, the bolt is automatically pressed in through the rotation of a hydraulic wrench sleeve, after the bolt is compressed in place, a cylinder pushes out a reaction torque to be close to a supporting bolt, and a hydraulic pump control system fastens according to a torque value and time set for the wrench;
(6) the two robots are grouped according to every five bolts, and after the first fastening of all the bolts is finished at the opposite corners, the second fastening is carried out again from the first bolt according to the set torque;
(7) after the bolt fastening is completed, the robot returns to the initial point, waits for an operator to replace the yaw bearing, and performs the operation again, and the operation is repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010387353.7A CN111590310A (en) | 2020-05-09 | 2020-05-09 | Robot assembly platform and method for wind driven generator yaw system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010387353.7A CN111590310A (en) | 2020-05-09 | 2020-05-09 | Robot assembly platform and method for wind driven generator yaw system |
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| CN111590310A true CN111590310A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010387353.7A Pending CN111590310A (en) | 2020-05-09 | 2020-05-09 | Robot assembly platform and method for wind driven generator yaw system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112388606A (en) * | 2020-11-19 | 2021-02-23 | 上海电气集团股份有限公司 | Method and device for detecting bolt state in wind driven generator |
| CN113334071A (en) * | 2021-06-16 | 2021-09-03 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
| CN114347004A (en) * | 2022-02-21 | 2022-04-15 | 国能联合动力技术(连云港)有限公司 | Yaw robot supporting seat and rotating arm matched positioning control system |
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| CN206717867U (en) * | 2016-12-14 | 2017-12-08 | 大连扬天科技有限公司 | Wind power hub bolt robot is automatically clamping system |
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| CN203241219U (en) * | 2013-01-16 | 2013-10-16 | 青岛华瑞丰机械有限公司 | Wind-driven generator yaw system testing stand |
| CN105855981A (en) * | 2015-01-18 | 2016-08-17 | 杭州三沃机器人有限公司 | Manipulator floating grabbing claw |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388606A (en) * | 2020-11-19 | 2021-02-23 | 上海电气集团股份有限公司 | Method and device for detecting bolt state in wind driven generator |
| CN112388606B (en) * | 2020-11-19 | 2022-02-18 | 上海电气集团股份有限公司 | Method and device for detecting bolt state in wind driven generator |
| CN113334071A (en) * | 2021-06-16 | 2021-09-03 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
| CN113334071B (en) * | 2021-06-16 | 2022-05-17 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
| CN114347004A (en) * | 2022-02-21 | 2022-04-15 | 国能联合动力技术(连云港)有限公司 | Yaw robot supporting seat and rotating arm matched positioning control system |
| CN114347004B (en) * | 2022-02-21 | 2024-04-12 | 国能联合动力技术(连云港)有限公司 | Yaw robot supporting seat and rotating arm cooperation positioning control system |
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Application publication date: 20200828 |