CN118081352A - Automatic tightening system and tightening method for flange bolts of wind power tower - Google Patents
Automatic tightening system and tightening method for flange bolts of wind power tower Download PDFInfo
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- CN118081352A CN118081352A CN202410388732.6A CN202410388732A CN118081352A CN 118081352 A CN118081352 A CN 118081352A CN 202410388732 A CN202410388732 A CN 202410388732A CN 118081352 A CN118081352 A CN 118081352A
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- 239000011425 bamboo Substances 0.000 claims description 5
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- 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
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Abstract
The invention provides an automatic tightening system and a tightening method for a flange bolt of a wind power tower, comprising a lifting platform, wherein the lifting platform is arranged in the middle of the bottom of the wind power tower, a positioning trolley is arranged at the upper end of the lifting platform, the center of the positioning trolley coincides with the center of a circle of the wind power tower, a rotating shaft device is arranged at the upper part of the positioning trolley, a controller is arranged at the lower part of the positioning trolley, the tail end of a secondary synchronous hydraulic cylinder is connected with a torque gun, a torque sensor and a visual camera are arranged on the torque gun, the torque gun is connected with a hydraulic station arranged on the lifting platform, and the controller is connected with the lifting platform, the positioning trolley, a power motor, the rotating shaft device, the secondary synchronous hydraulic cylinder, the torque gun, the torque sensor and the visual camera. According to the automatic tightening system for the flange bolts, the automatic tightening of the wind power tower barrel bolts is realized, and the labor intensity of workers is effectively reduced.
Description
Technical Field
The invention relates to the technical field of wind power towers, in particular to an automatic tightening system and a tightening method for flange bolts of a wind power tower.
Background
The wind power tower drum is used as a high-rise thin-wall structure with 'head heavy and foot light', and is composed of multiple sections, the tower drum at the bottom end is connected with a foundation through a plurality of high-strength bolts and nuts with pretightening force, and every two sections of tower drums in the middle are connected through a plurality of high-strength bolts and nuts with pretightening force. The wind driven generator works in a field environment for a long time, the connecting bolts are subjected to fatigue stress, and the phenomena of loosening or breaking of the bolts can occur, or wind power accidents can be caused. As offshore wind power construction progresses into deep sea areas, natural environmental conditions become worse and construction time becomes more limited. However, the tightening process of the wind power tower bolt is mostly completed by staff at present, so that the problems of high labor intensity, difficult quality control and the like exist, and in some occasions needing higher tightening torque, some safety accidents can be caused if the operator has improper operation. In order to improve the aspect of the efficiency of construction in limited engineering time, adopt the automation equipment that flange bolt screwed up to replace manual work, make the bolt reach the pretightning force fast, have important meaning to improving bolt tightening operation efficiency guarantee personnel operation safety.
Patent number CN202310437956.7 proposes an automatic fastening robot of marine wind power tower section of thick bamboo bolt, but its needs mark the bolt, great reduction work efficiency, and wind power tower section of thick bamboo work platform restriction width, put forward serious test to the stability of dolly when carrying out the bolt-up operation. The automatic tightening system for the flange bolts of the wind power tower is characterized by being high in working efficiency and automation degree, good in stability and simple in control scheme, and solves the problems of low tightening efficiency and poor stability of the current automatic tightening equipment for the bolts of the wind power tower.
Disclosure of Invention
According to the problems of low tightening efficiency and poor stability of the automatic wind power tower cylinder bolt tightening equipment, the automatic wind power tower cylinder flange bolt tightening system and the tightening method can realize full-automatic control of wind power tower cylinder flange bolt tightening, reduce labor intensity of workers and improve efficiency and safety of wind power tower cylinder setting.
The invention adopts the following technical means:
The automatic tightening system is arranged inside a wind power tower drum and comprises a lifting platform, the lifting platform is arranged in the middle of the bottom of the wind power tower drum, a positioning trolley is arranged at the upper end of the lifting platform, the center of the positioning trolley coincides with the center of a circle of the wind power tower drum, a rotating shaft device is arranged on the upper portion of the positioning trolley, two-stage synchronous hydraulic cylinders on the same horizontal line are symmetrically arranged on two sides of the rotating shaft device, the rotating shaft device is connected with a power motor arranged on the lower portion of the positioning trolley, a controller is arranged on the lower portion of the positioning trolley, the tail end of the two-stage synchronous hydraulic cylinder is connected with a torque gun, a torque sensor and a visual camera are arranged on the torque gun, the torque gun is connected with a hydraulic station arranged on the lifting platform, and the controller is connected with the lifting platform, the positioning trolley, the power motor, the rotating shaft device, the two-stage synchronous hydraulic cylinders, the torque gun and the torque sensor and the visual camera.
Further, the lifting platform comprises a movable trolley and a scissor type lifter, wherein the scissor type lifter is arranged on the upper portion of the movable trolley.
Further, the positioning trolley can adaptively move according to the feedback distance of the visual cameras at the outer ends of the two-stage synchronous hydraulic cylinders at the two sides, so that the torque guns at the outer sides of the two-stage synchronous hydraulic cylinders at the two sides can reach the screw tightening position at the same time.
Further, two sides of the rotating shaft device are respectively connected with the secondary synchronous hydraulic cylinder through a sliding table.
Further, the sliding table is used for adjusting the position of the secondary synchronous hydraulic cylinder in the vertical direction, so that the torque gun at the tail end of the secondary synchronous hydraulic cylinder is the same as the vertical height of the bolt.
Further, the secondary synchronous hydraulic cylinder can perform secondary expansion and contraction.
Further, a plurality of adjustable steering wheels are arranged on the positioning trolley, and the adjustable steering wheels are electrically connected with the controller.
The invention also provides an automatic tightening method for the flange bolts of the wind power tower, which is realized based on any automatic tightening system for the flange bolts of the wind power tower, and comprises the following steps:
Firstly, placing a lifting platform at the center of the bottom of a wind power tower, and mounting a positioning trolley at the upper end of the lifting platform, wherein a secondary synchronous hydraulic cylinder is in a contracted state;
The controller starts a scissor type lifter of the lifting platform to enable the torque gun to reach the height of a target bolt of the wind power tower;
The two secondary synchronous hydraulic cylinders extend out to two sides, and the vision camera feeds back the position of the distance bolt to the controller;
When the two-stage synchronous hydraulic cylinders at one side reach the position of the bolt, the controller controls the positioning trolley to move in the opposite direction until the two-stage synchronous hydraulic cylinders at the two sides reach the position of the bolt, and the distance between the tail ends of the two-stage synchronous hydraulic cylinders at the two sides is the diameter of the circumference where the bolt is positioned;
the two-stage synchronous hydraulic cylinders on the two sides are finely adjusted in the vertical direction through the movement of the sliding table, so that the vertical heights of the torque gun and the target bolt are the same;
the controller sends a tightening instruction to the torque gun, the torque gun tightens the target bolt, the torque sensor measures the torque value of the torque gun, and when the torque value reaches the rated torque, the torque sensor sends a stop signal to the controller, and the controller controls the torque gun to stop acting;
the controller controls the rotating shaft device to drive the secondary synchronous hydraulic cylinder to rotate along the circumferential direction of the wind power tower, and the screw tightening work of one circle is completed after rotating for half a circumference each time by rotating the fixed angle between the adjacent screws;
the controller controls the secondary synchronous hydraulic cylinder, the controller controls the lifting platform to control the scissor type lifter to ascend, and the next-stage bolt tightening work is carried out until all target bolt tightening works are completed.
Compared with the prior art, the invention has the following advantages:
According to the automatic tightening system for the flange bolts, the automatic tightening of the wind power tower barrel bolts is realized, and the labor intensity of workers is effectively reduced;
According to the invention, through full automation of the screwing process, the screwing torque data of the wind power tower drum bolt is obtained through the torque sensor, and the installation quality of the wind power tower drum is effectively improved.
According to the invention, the bolt position does not need to be marked, and meanwhile, the rotating device rotates for half a circle to complete a circle of bolt tightening work task, so that the efficiency of tightening the flange bolts of the wind power tower is obviously improved.
The automatic tightening system for the flange bolts of the wind power tower is not only suitable for the tightening action of the bolts when the tower is installed, but also can replace the moment sensor for other end effectors according to different purposes to be used for checking, cleaning, detecting faults and the like of the bolts of the wind power tower.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of an installation position of an automatic tightening system for flange bolts of a wind power tower.
Fig. 2 is a schematic diagram of the whole structure of an automatic tightening system for flange bolts of a wind power tower.
FIG. 3 is a schematic diagram of the upper structure of an automatic tightening system for flange bolts of a wind power tower.
Fig. 4 is a front view of a torque gun of the automatic tightening system for flange bolts of a wind power tower.
Fig. 5 is a bottom view of a torque gun of the automatic tightening system for flange bolts of a wind power tower.
In the figure: 1. a wind power tower; 2. a lifting platform; 201. a movable trolley; 202. a scissor lift; 3. positioning trolley; 301. an adjustable steering wheel; 4. a controller; 5. a power motor; 6. a spindle device; 601. a sliding table; 7. a secondary synchronous hydraulic cylinder; 8. a torque gun; 9. a hydraulic station; 10. a torque sensor; 11. visual camera.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
1-5, The invention provides an automatic tightening system for flange bolts of a wind power tower, which comprises the following components: wind power tower 1, lift platform 2, positioning trolley 3, controller 4, power motor 5, pivot device 6, second grade synchronous pneumatic cylinder 7, moment rifle 8, hydraulic pressure station 9, torque sensor 10 and vision camera 11.
The lifting platform 2 consists of a movable trolley 201 and a scissor type lifter 202, and is arranged in the middle of the bottom of the wind power tower 1. The lifting platform 2 can be lifted and adjusted according to different heights of the installed wind power tower cylinders so as to achieve the position required by the bolt tightening action. The positioning trolley 3 is located at the upper end of the lifting platform 2, the positioning trolley 3 can adaptively move according to the feedback distance of the visual cameras 11 at the outer ends of the two-side two-stage synchronous hydraulic cylinders 7, and the moment gun 8 at the outer sides of the two-side two-stage synchronous hydraulic cylinders 7 is guaranteed to reach the bolt tightening position at the same time. The positioning trolley 3 moves on the lifting platform 2, so that the center of the positioning trolley 3 coincides with the center of the wind power tower 1, and the straight line where the two secondary synchronous hydraulic cylinders 7 extending out of two sides are located coincides with the diameter of the wind power tower 1.
The rotating shaft device 6 is arranged on the positioning trolley, two sides of the rotating shaft device are directly connected with the secondary synchronous hydraulic cylinder 7 through the sliding table 601, and the rotating shaft device 6 is directly powered by the power motor 5 arranged at the lower end of the positioning trolley 3. After the torque gun 8 completes the screwing action of the wind power tower cylinder bolt, the rotating shaft device 6 rotates the secondary synchronous hydraulic cylinder 7 by a fixed angle, so that the torque gun 8 and the next bolt are accurately positioned. The slipway 601 of pivot device 6 both sides is connected with the second grade synchronous pneumatic cylinder 7 bottom of both sides, carries out the fine adjustment to the second grade synchronous pneumatic cylinder 7 in the vertical direction, ensures the terminal moment rifle 8 of second grade synchronous pneumatic cylinder 7 and the accurate cooperation of bolt. The two secondary synchronous hydraulic cylinders 7 can perform secondary expansion and contraction, so that the secondary synchronous hydraulic cylinders 7 occupy smaller space in an unused state, and can reach the distance required by tightening the bolts of the wind power tower in a use state.
The controller 4 is located at the bottom of the positioning trolley 3 and is used for processing distance information fed back by the visual camera 11 at the tail end of the torque gun 8, controlling the movement of the positioning trolley 3 and the vertical adjustment of the secondary synchronous hydraulic cylinder 7, and ensuring the accurate matching of the torque gun 8 and the bolt. The four adjustable steering wheels 301 of the positioning trolley 3 move on the lifting platform 2 according to the signals of the controller 4, so that the center of the positioning trolley 3 is ensured to coincide with the center of the wind power tower 1.
The torque gun 8 is connected with the tail end of the secondary synchronous hydraulic cylinder 7, the torque gun 8 is connected with the hydraulic station 9 through an oil pipe, the hydraulic station 9 transmits a power source to the torque gun 8 through the oil pipe, and further, the tail end of the torque gun 8 is directly connected with a bolt through a torque sensor 10. The torque sensor 10 is used for measuring the torque value of the tightening bolt in real time, and ensuring that the rated torque can be achieved in the tightening process of the bolt. The visual camera 11 is arranged at the front end of the torque gun 8 and used for guaranteeing accurate positioning between the torque gun 8 and the bolt.
The invention also provides an automatic tightening method of the flange bolts of the wind power tower, when the tightening work of the flange bolts is carried out, the lifting platform 2 is firstly placed near the center position of the bottom of the wind power tower 1, the positioning trolley 3 is arranged at the upper end of the lifting platform 2, and the secondary synchronous hydraulic cylinder 7 is in a contracted state. The scissor lift 202 of the lifting platform 2 is started to reach the height at which the wind power tower 1 needs to be screwed down. Further, two secondary synchronous hydraulic cylinders 7 extend to both sides, and a vision camera 11 feeds back the position of the distance bolt to the controller 4. When the two-stage synchronous hydraulic cylinders 7 on one side reach the bolt position, the controller 4 controls the positioning trolley 3 to move in the opposite direction until the two-stage synchronous hydraulic cylinders 7 reach the bolt position at the same time, and the distance between the tail ends of the two-stage synchronous hydraulic cylinders 7 on the two sides is the diameter of the circumference where the bolts are located, so that the two-stage synchronous hydraulic cylinders 7 on the two sides can rotate for half a circle during working, and the bolts on the whole circumference can be screwed. In the process of positioning the torque gun 8 through the torque sensor 10 and the bolts, the two-side two-stage synchronous hydraulic cylinders 7 can be finely adjusted in the vertical direction, so that the torque sensor 10 and the bolts are positioned rapidly and accurately. After the screw tightening action is completed, the rotating shaft device 6 drives the secondary synchronous hydraulic cylinder 7 to rotate a fixed angle between adjacent screws each time, and the screw tightening work for one circle can be completed by rotating a half circle, so that the screw tightening efficiency is greatly improved. After one cycle of bolt tightening work is completed, the secondary synchronous hydraulic cylinder 7 is contracted, and the lifting platform 2 controls the scissor type lifter 202 to ascend, so that the next stage of bolt tightening work is performed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. An automatic tightening system for flange bolts of a wind power tower is characterized in that: automatic screw up system sets up inside wind-powered electricity generation tower section of thick bamboo (1), including lift platform (2), lift platform (2) set up in the middle of wind-powered electricity generation tower section of thick bamboo (1) bottom department, lift platform (2) upper end is provided with location dolly (3), the center of location dolly (3) coincides with the centre of a circle of wind-powered electricity generation tower section of thick bamboo (1), the upper portion of location dolly (3) is provided with pivot device (6), the bilateral symmetry of pivot device (6) is provided with second grade synchronous pneumatic cylinder (7) that are in same horizontal line, pivot device (6) link to each other with power motor (5) that set up in location dolly (3) lower part, location dolly (3) lower part is provided with controller (4), the end-to-end connection of second grade synchronous pneumatic cylinder (7) has moment rifle (8), be provided with torque sensor (10) and vision camera (11) on moment rifle (8), moment rifle (8) link to each other with hydraulic station (9) that set up on lift platform (2), controller (4), second grade synchronous pneumatic cylinder (5), torque device (8) The torque sensor (10) is connected with the visual camera (11).
2. The automatic tightening system of flange bolts for a wind power tower according to claim 1, wherein the lifting platform (2) comprises a movable trolley (201) and a scissor lift (202), and the scissor lift (202) is disposed at an upper portion of the movable trolley (201).
3. The automatic tightening system of the flange bolts of the wind power tower according to claim 1, wherein the positioning trolley (3) can adaptively move according to the feedback distance of the visual cameras (11) at the outer ends of the two-stage synchronous hydraulic cylinders (7) at the two sides, so that the torque guns (8) at the outer sides of the two-stage synchronous hydraulic cylinders (7) at the two sides can reach the tightening position of the bolts at the same time.
4. The automatic tightening system of flange bolts of a wind power tower according to claim 1, characterized in that two sides of the rotating shaft device (6) are respectively connected with the secondary synchronous hydraulic cylinder (7) through a sliding table (601).
5. The automatic tightening system for flange bolts of wind power towers according to claim 4, characterized in that the sliding table (601) adjusts the position of the secondary synchronous hydraulic cylinder (7) in the vertical direction so that the torque gun (8) at the tail end of the secondary synchronous hydraulic cylinder (7) is the same as the vertical height of the bolts.
6. The automatic tightening system of flange bolts of a wind power tower according to claim 1, characterized in that the secondary synchronous hydraulic cylinder (7) can perform secondary expansion and contraction.
7. The automatic tightening system of the flange bolts of the wind power tower according to claim 1, wherein a plurality of adjustable steering wheels (301) are arranged on the positioning trolley (3), and the adjustable steering wheels (301) are electrically connected with the controller (4).
8. An automatic tightening method for wind power tower flange bolts, which is realized based on the automatic tightening system for wind power tower flange bolts according to any one of claims 1-7, and is characterized by comprising the following steps:
Firstly, placing a lifting platform (2) at the central position of the bottom of a wind power tower (1), and installing a positioning trolley (3) at the upper end of the lifting platform (2), wherein a secondary synchronous hydraulic cylinder (7) is in a contracted state;
the controller (4) starts a scissor type lifter of the lifting platform (2) to enable the torque gun (8) to reach the height of a target bolt of the wind power tower (1);
Two secondary synchronous hydraulic cylinders (7) extend to two sides, and a visual camera (11) feeds back the position of a distance bolt to a controller (4);
When the two-stage synchronous hydraulic cylinders (7) at one side reach the bolt position, the controller (4) controls the positioning trolley (3) to move in opposite directions until the two-stage synchronous hydraulic cylinders (7) at the two sides reach the bolt position, and the distance between the tail ends of the two-stage synchronous hydraulic cylinders (7) at the two sides is the diameter of the circumference where the bolts are positioned;
the two-stage synchronous hydraulic cylinders (7) on two sides are finely adjusted in the vertical direction through the movement of the sliding table (601), so that the vertical heights of the torque gun (8) and the target bolt are the same;
The controller (4) sends a tightening instruction to the torque gun (8), the torque gun (8) tightens the target bolt, the torque sensor (10) measures the torque value of the torque gun (8) at the moment, and when the torque value reaches the rated torque, the torque sensor (10) sends a stop signal to the controller (4), and the controller (4) controls the torque gun (8) to stop acting;
the controller (4) controls the rotating shaft device (6) to drive the secondary synchronous hydraulic cylinder (7) to rotate along the circumferential direction of the wind power tower (1), and the screw tightening work of one circle is completed after rotating for half a circumference each time by rotating a fixed angle between adjacent screws;
the controller (4) controls the secondary synchronous hydraulic cylinder (7), the controller (4) controls the lifting platform (2) to control the scissor type lifter (202) to ascend, and the next stage of bolt tightening work is performed until all target bolt tightening works are completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410388732.6A CN118081352A (en) | 2024-04-01 | 2024-04-01 | Automatic tightening system and tightening method for flange bolts of wind power tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410388732.6A CN118081352A (en) | 2024-04-01 | 2024-04-01 | Automatic tightening system and tightening method for flange bolts of wind power tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118081352A true CN118081352A (en) | 2024-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410388732.6A Pending CN118081352A (en) | 2024-04-01 | 2024-04-01 | Automatic tightening system and tightening method for flange bolts of wind power tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118081352A (en) |
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2024
- 2024-04-01 CN CN202410388732.6A patent/CN118081352A/en active Pending
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