CN115319446A - Large-scale wind-powered electricity generation blade assembly fastening robot system - Google Patents
Large-scale wind-powered electricity generation blade assembly fastening robot system Download PDFInfo
- Publication number
- CN115319446A CN115319446A CN202210973515.4A CN202210973515A CN115319446A CN 115319446 A CN115319446 A CN 115319446A CN 202210973515 A CN202210973515 A CN 202210973515A CN 115319446 A CN115319446 A CN 115319446A
- Authority
- CN
- China
- Prior art keywords
- tightening
- mechanical arm
- inkpad
- control
- screwing
- 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
Images
Classifications
-
- 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
-
- 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)
- Mechanical Engineering (AREA)
- Wind Motors (AREA)
Abstract
The invention relates to a large-scale wind power blade assembling and fastening robot system, which comprises a lifting system, a mechanical arm, a seal system, a tightening system and a control system, wherein the lifting system can be lifted freely; the mechanical arm is arranged above the lifting system and drives the tightening system to complete a corresponding stretching and tightening task according to an instruction input by the control system so as to obtain a required tightening effect; the seal system is arranged at the top of the lifting system and is used for screwing a mark in the screwing process of the system; the tightening system is arranged at the tail end of the mechanical arm and used for tightening bolts of the fan blades; the control system is respectively connected with the lifting system, the mechanical arm and the screwing system and used for controlling the lifting system, the motion of the mechanical arm and the screwing process, wherein the motion control can effectively plan the motion route of the mechanical arm, and the process control can finish corresponding bolt screwing according to requirements.
Description
Technical Field
The invention relates to a wind driven generator system, in particular to a large wind power blade assembling and fastening robot system.
Background
In the process of assembling the offshore wind turbine blade in the prior art, the blade fixing bolts are fastened mainly by manually aligning, stretching and screwing the blade fixing bolts by a worker holding a hydraulic stretcher, the traditional assembling mode is very dependent on manual operation, the requirement on the personal technical ability of the worker is high, and the product quality has large deviation. Because the tool is very heavy and the number of the bolts is very large, a single blade can reach hundreds of bolts, the diameter of the blade can reach three meters, and the labor intensity of workers is very high. The cabin has limited internal operation space, and the tool is an ultrahigh-pressure hydraulic tool, so that the danger of manual operation is very high, and the efficiency is very low. In order to solve the serious problems faced at present, the state advocates industrial intelligent transformation and uses machines to replace manual work.
The invention provides a large-scale wind power blade assembling and fastening robot system, which has flexible freedom and can be effectively applied to the field of wind power blade assembling in order to improve the efficiency of blade assembling, reduce manual use and improve the quality of blade assembling and combine the characteristics of robot intellectualization.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the bolt of wind-powered electricity generation blade assembly is screwed up, and artifical production efficiency is low, and intensity of labour is big, and operational environment danger is abominable, and provides a large-scale wind-powered electricity generation blade assembly fastening robot system.
In order to solve the technical problem, the technical scheme of the invention is as follows: a large-scale wind power blade assembling and fastening robot system comprises a lifting system, a mechanical arm, a seal system, a tightening system and a control system, wherein the lifting system can be lifted freely; the mechanical arm is arranged above the lifting system and drives the tightening system to complete a corresponding stretching and tightening task according to an instruction input by the control system so as to obtain a required tightening effect; the seal system is arranged at the top of the lifting system and is used for screwing a mark in the screwing process of the system; the tightening system is arranged at the tail end of the mechanical arm and used for tightening bolts of the fan blades; the control system is respectively connected with the lifting system, the mechanical arm and the screwing system and used for controlling the lifting system, the motion of the mechanical arm and the screwing process, wherein the motion control can effectively plan the motion route of the mechanical arm, and the process control can finish corresponding bolt screwing according to requirements.
Furthermore, the seal system include the inkpad stand, the inkpad stand on be provided with the inkpad feed bin, the inkpad feed bin be provided with the inkpad apron to fix on the inkpad feed bin through the round pin hub connection, the inkpad stand on be provided with the cylinder that opens and shuts, cylinder one end that opens and shuts articulate on the inkpad stand, the other end articulates on the inkpad apron.
Furthermore, the mechanical arm adopts an industrial mechanical arm, and the flexible control performance and the larger working range of the industrial mechanical arm are utilized, so that the action requirement of bolt assembly in the cabin of the fan can be met.
Furthermore, the system of screwing up including the tensile module of screwing up, laser range finder, vision camera, laser range finder pass through bolt fixed connection and screw up tensile module on, vision camera pass through bolt connection fixed connection screw up tensile module on.
Furthermore, the control system realizes the motion control of the mechanical arm through the remote control panel, so that an operator can control the motion of the mechanical arm on site according to specific conditions, including the extension and retraction of the lifting system.
Furthermore, the tightening system inputs information of the position of the bolt detected by a vision camera in the tightening system into the control system through a computer, the information is processed by the upper computer and converted into a motion instruction of the mechanical arm, and the mechanical arm drives the tightening system to move so as to complete the whole stretching and tightening process.
Compared with the prior art, the invention has the following beneficial effects:
by adopting the structure provided by the invention, the accuracy and stability of installation can be improved to a greater extent in the assembly process of the blades of the wind driven generator in the scene of assembly of the blades of the wind driven generator, high-strength physical expenditure is also avoided, and workers can be relieved in high-strength physical labor by the equipment.
Drawings
FIG. 1 is a schematic overall structure diagram of a large-scale wind turbine blade assembling and fastening robot system of the invention;
FIG. 2 is a schematic view of a stamp system;
FIG. 3 is a schematic view of a tightening system;
description of the reference numerals: 1-a lifting system; 2-a stamp system; 21-inkpad stand column; 22-an opening and closing cylinder; 23-inkpad stock bin; 24-a pad box; 25-inkpad cover plate; 3, a mechanical arm; 4-tightening the system; 41-screwing the stretching module; 42-a laser range finder; 43-visual Camera.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the claims appended to the present application.
As shown in fig. 1, the invention provides a large wind turbine blade assembling and fastening robot system, which comprises: the automatic stamping machine comprises a lifting system 1 capable of freely lifting, a mechanical arm 3, a stamp system 2 and a control system.
The mechanical arm 3 is arranged above the lifting system 1 and drives the tightening system to complete a corresponding stretching tightening task according to an instruction input by the control system so as to obtain a required tightening effect.
The stamp system 2 is mounted on top of the lifting system 1 for marking the process of screwing.
A tightening system 4 is mounted at the end of the robot arm 3 for tightening the fan blade bolts.
The control system is respectively connected with the lifting system and the mechanical arm 3 and used for controlling the lifting system, controlling the movement of the mechanical arm 3 and controlling the screwing process, the movement control can effectively plan the movement route of the mechanical arm 3, and the process control can complete corresponding bolt screwing according to requirements.
As shown in fig. 2, the stamp system 2 includes an inkpad stand 21, an opening and closing cylinder 22, an inkpad hopper 23, and the like. Be provided with inkpad feed bin 23 on the inkpad stand 21, place inkpad box 24 in the inkpad feed bin 23, be provided with inkpad apron 25 on the inkpad feed bin 23, fix on inkpad feed bin 23 through the round pin hub connection, be equipped with inkpad stand 21 below the inkpad feed bin 23, be provided with the cylinder 22 that opens and shuts on the inkpad stand 21, the cylinder 22 one end that opens and shuts is through articulating on inkpad stand 21, and the other end articulates on inkpad apron 25.
The mechanical arm 3 adopts an industrial mechanical arm, flexible control performance and a larger working range are utilized, action requirements of bolt assembly in the fan cabin are met, and the industrial mechanical arm is more labor-saving and convenient compared with a manual assembly mode due to the large volume in the fan cabin;
as shown in fig. 3, the tightening system 4 includes a tightening and stretching module 41, a laser range finder 42, and a vision camera 43, wherein the laser range finder 42 is fixed to the tightening and stretching module 41 by a bolt connection, and the vision camera 43 is fixed to the tightening and stretching module 41 by a bolt connection.
The control system comprises the motion control and the tightening process control of the mechanical arm, and the motion control of the mechanical arm 3 is realized through a remote control panel, so that an operator can control the motion of the mechanical arm 3 on site according to specific conditions, including the expansion and contraction of the lifting system and the like; in the tightening process, information of the position of the bolt detected by a vision camera is input into the system by a computer, is processed by an upper computer and is converted into a motion instruction of the mechanical arm 3, and the mechanical arm 3 drives the tightening system to move so as to complete the whole stretching and tightening process;
the present specification has been provided with specific examples to explain the principles and embodiments of the invention, and the above descriptions of the examples are only used to help understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. The utility model provides a large-scale wind-powered electricity generation blade assembly fastening robot system which characterized in that: the automatic seal tightening device comprises a lifting system, a mechanical arm, a seal system, a tightening system and a control system, wherein the lifting system can be lifted freely, and is used for mounting the mechanical arm and the seal system and driving the mechanical arm and the seal system to lift freely; the mechanical arm is arranged above the lifting system and drives the tightening system to complete a corresponding stretching and tightening task according to an instruction input by the control system so as to obtain a required tightening effect; the seal system is arranged at the top of the lifting system and is used for screwing a mark in the screwing process of the system; the tightening system is arranged at the tail end of the mechanical arm and used for tightening bolts of the fan blades; the control system is respectively connected with the lifting system, the mechanical arm and the screwing system and used for controlling the lifting system, the motion of the mechanical arm and the screwing process, wherein the motion control can effectively plan the motion route of the mechanical arm, and the process control can finish corresponding bolt screwing according to requirements.
2. The large wind blade assembly fastening robot system of claim 1, wherein: the seal system include the inkpad stand, the inkpad stand on be provided with the inkpad feed bin, the inkpad feed bin be provided with the inkpad apron to fix on the inkpad feed bin through the round pin hub connection, the inkpad stand on be provided with the cylinder that opens and shuts, the cylinder one end that opens and shuts articulate on the inkpad stand, the other end articulates on the inkpad apron.
3. The large wind blade assembly fastening robot system of claim 1, wherein: the mechanical arm adopts an industrial mechanical arm, and can meet the action requirement of bolt assembly in the cabin of the fan by utilizing flexible control performance and a larger working range.
4. The large wind blade assembly fastening robot system of claim 1, wherein: the tightening system comprises a tightening and stretching module, a laser range finder and a vision camera, wherein the laser range finder is fixedly connected to the tightening and stretching module through a bolt, and the vision camera is fixedly connected to the tightening and stretching module through a bolt.
5. The large wind blade assembly fastening robot system of claim 1, wherein: the control system realizes the motion control of the mechanical arm through the remote control panel, so that an operator can control the motion of the mechanical arm according to specific conditions on site, including the expansion and contraction of the lifting system.
6. The large wind blade assembly fastening robot system of claim 1, wherein: the tightening system inputs information of the position of the bolt detected by a vision camera in the tightening system into the control system through a computer, the information is processed by the upper computer and converted into a motion instruction of the mechanical arm, and the mechanical arm drives the tightening system to move to complete the whole stretching and tightening process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210973515.4A CN115319446A (en) | 2022-08-15 | 2022-08-15 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210973515.4A CN115319446A (en) | 2022-08-15 | 2022-08-15 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115319446A true CN115319446A (en) | 2022-11-11 |
Family
ID=83922944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210973515.4A Pending CN115319446A (en) | 2022-08-15 | 2022-08-15 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115319446A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100929183B1 (en) * | 2008-06-24 | 2009-12-01 | 주식회사 대아로보텍 | The stamp device for using data eliminating device of hard disk drive |
| CN205363244U (en) * | 2016-03-15 | 2016-07-06 | 广州市永合祥自动化设备科技有限公司 | Marking mechanism suitable for screw up machine |
| CN206509716U (en) * | 2016-12-14 | 2017-09-22 | 大连扬天科技有限公司 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
| CN206510610U (en) * | 2017-01-21 | 2017-09-22 | 湖南现代物流职业技术学院 | A kind of special Inkpad box of financial accounting |
| JP2018118324A (en) * | 2017-01-23 | 2018-08-02 | 新電元工業株式会社 | Assembly manufacturing apparatus and assembly manufacturing method |
| CN109838350A (en) * | 2019-04-16 | 2019-06-04 | 国电联合动力技术有限公司 | Wind turbines pitch variable bearings Intelligent assembly method |
| CN209407870U (en) * | 2018-12-28 | 2019-09-20 | 新松机器人联合研究院(湘潭)有限公司 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
| CN110509677A (en) * | 2019-09-19 | 2019-11-29 | 广西玉柴机器股份有限公司 | It is a kind of to prevent nut from leaking the mark device tightened |
| CN209850309U (en) * | 2019-05-02 | 2019-12-27 | 国电联合动力技术(赤峰)有限公司 | Wind power hub assembly line system |
| CN111761347A (en) * | 2020-06-18 | 2020-10-13 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent assembly system and method using repair workshop robot |
| CN111761345A (en) * | 2020-06-16 | 2020-10-13 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent robot air spring double-shaft automatic tightening system and method |
| CN214444423U (en) * | 2021-01-21 | 2021-10-22 | 辽宁忠旺铝合金精深加工有限公司 | Mistake proofing system of single-shaft matched reaction force arm screw tightening machine |
| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding and pre-tightening system based on visual positioning and control method |
| CN113714789A (en) * | 2021-08-23 | 2021-11-30 | 深圳职业技术学院 | Thread tightening device based on visual positioning and control method |
| CN114872067A (en) * | 2022-06-01 | 2022-08-09 | 南京航空航天大学 | Bolt tightening robot with composite material structure |
-
2022
- 2022-08-15 CN CN202210973515.4A patent/CN115319446A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100929183B1 (en) * | 2008-06-24 | 2009-12-01 | 주식회사 대아로보텍 | The stamp device for using data eliminating device of hard disk drive |
| CN205363244U (en) * | 2016-03-15 | 2016-07-06 | 广州市永合祥自动化设备科技有限公司 | Marking mechanism suitable for screw up machine |
| CN206509716U (en) * | 2016-12-14 | 2017-09-22 | 大连扬天科技有限公司 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
| CN206510610U (en) * | 2017-01-21 | 2017-09-22 | 湖南现代物流职业技术学院 | A kind of special Inkpad box of financial accounting |
| JP2018118324A (en) * | 2017-01-23 | 2018-08-02 | 新電元工業株式会社 | Assembly manufacturing apparatus and assembly manufacturing method |
| CN209407870U (en) * | 2018-12-28 | 2019-09-20 | 新松机器人联合研究院(湘潭)有限公司 | A kind of dual robot bolt automatic tightening system being arranged symmetrically |
| CN109838350A (en) * | 2019-04-16 | 2019-06-04 | 国电联合动力技术有限公司 | Wind turbines pitch variable bearings Intelligent assembly method |
| CN209850309U (en) * | 2019-05-02 | 2019-12-27 | 国电联合动力技术(赤峰)有限公司 | Wind power hub assembly line system |
| CN110509677A (en) * | 2019-09-19 | 2019-11-29 | 广西玉柴机器股份有限公司 | It is a kind of to prevent nut from leaking the mark device tightened |
| CN111761345A (en) * | 2020-06-16 | 2020-10-13 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent robot air spring double-shaft automatic tightening system and method |
| CN111761347A (en) * | 2020-06-18 | 2020-10-13 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent assembly system and method using repair workshop robot |
| CN214444423U (en) * | 2021-01-21 | 2021-10-22 | 辽宁忠旺铝合金精深加工有限公司 | Mistake proofing system of single-shaft matched reaction force arm screw tightening machine |
| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding and pre-tightening system based on visual positioning and control method |
| CN113714789A (en) * | 2021-08-23 | 2021-11-30 | 深圳职业技术学院 | Thread tightening device based on visual positioning and control method |
| CN114872067A (en) * | 2022-06-01 | 2022-08-09 | 南京航空航天大学 | Bolt tightening robot with composite material structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109848978A (en) | A kind of revolution gripping manipulator based on automation module control | |
| CN110142718A (en) | Bolt disassembly device | |
| CN115319446A (en) | Large-scale wind-powered electricity generation blade assembly fastening robot system | |
| CN203773358U (en) | Traction device fixing structure of solar power tracking system | |
| WO2020248339A1 (en) | Detachable turner beam for turning wind turbine blade mould | |
| CN216359578U (en) | Automatic production is arm revolving stage for equipment that facilitates use | |
| CN103001152A (en) | Overhead ground wire lifter of power transmission line | |
| CN112320603B (en) | Hoisting anti-collision and top mounting positioning method and device for tower type photo-thermal power generation heat collector | |
| CN213731543U (en) | Quick pre-tightening auxiliary device for tower bolt of wind generating set | |
| CN208890725U (en) | A kind of solar panel rotation fixed frame | |
| CN201505889U (en) | Tool for rapidly assembling and disassembling fixing pin for film sheet catcher in cold gas pressurizer | |
| CN208680832U (en) | A kind of novel welding machine people | |
| CN112720353A (en) | Walking positioning device based on bolt crawling | |
| CN206265183U (en) | A kind of gait clamped-in style climbing robot | |
| CN217843266U (en) | Intelligent inspection device for wind power plant | |
| CN219957371U (en) | Intelligent linear array camera regulating and controlling device for tunnel structure defect vision scanning | |
| CN216504803U (en) | Auxiliary tool for replacing yaw clamp | |
| CN219455466U (en) | Fan hub overhauls frock | |
| CN219499774U (en) | Energy-saving controller convenient to overhaul | |
| CN202922453U (en) | Wind turbine generator cabin cover assembling locating tool | |
| CN217260707U (en) | Multifunctional intelligent telescopic safeguard equipment for aircraft manufacturing | |
| CN219255432U (en) | Counter bore shaft dismounting device | |
| CN212761138U (en) | Rechargeable lithium electric wrench | |
| CN214659521U (en) | Gearbox maintenance hinge device of unpacking and maintenance gearbox on tower thereof | |
| CN220787780U (en) | Novel jigger frock of modularization installation |
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 |