CN206509716U - Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system - Google Patents
Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system Download PDFInfo
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- CN206509716U CN206509716U CN201621366374.6U CN201621366374U CN206509716U CN 206509716 U CN206509716 U CN 206509716U CN 201621366374 U CN201621366374 U CN 201621366374U CN 206509716 U CN206509716 U CN 206509716U
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Abstract
The utility model proposes a kind of new theory and structure, the advanced technology such as six-joint robot, vision system, electro-optical system, hydraulic pressure, pneumatic, SERVO CONTROL, Automated condtrol, network interconnection is combined, a kind of large-scale wind electricity equipment king-bolt big nut robot is formed automatically clamping system：Including flexible floating clamp 1, six-joint robot 2, robot base 3, robot running gear 4, servo turntable 5, workpiece positioning clamping fixture 6, control system, intelligent hydraulic pumping plant 10 and safety barrier 22；With advantages below：1st, instead of artificial, production efficiency height, production safety.2nd, assemble quality controllable, data automatic recording, quality document is automatically generated.3rd, remote monitoring and equipment debugging, control system are equipped with network interconnection function, and administrative staff, technical staff and system equipment commissioning staff are not required to monitor and debug at the scene.
Description
Technical field
The utility model is related to Automated assembly field, is that one kind is used for king-bolt or big spiral shell in wind power equipment assembling process
Female robot is automatically clamping system.
Background technology
As large-scale wind generating industry development is rapid, product specification is more and more, 1.5M, 2.0MW, 2.5MW, 3.0MW,
5MW, 6MW large fan emerge in an endless stream, of large quantities, the production task weight of production, the everyway such as assembly crewman's technical capability, physical efficiency
Face a severe test.
Especially in wind power equipment king-bolt, big nut assembly process, existing assembly tool is special to assembler's physical fitness requirement
It is not high.At present, when large-scale wind electricity equipment, such as wheel hub, lower bearing bracket install bearing, king-bolt, the assembling of big nut is being tightly logical
Cross and manually operated using hydraulic spanner or hydraulic elongator, bolt process is tightened in completion need to carry out three times repetitive operations,
And it is dangerous high.One typhoon electricity boss bolt, which beats torque, needs 4 times of people one, super-pressure, high pulling torque torque spanner pair
Operating personnel's security threat is especially big, so being badly in need of intricate operation, artificial high energy consumption, product quality be uncontrollable, production efficiency
The low Resolving probiems of low, safety coefficient.
The content of the invention
To solve the above problems, the utility model proposes a kind of new theory and structure, by six-joint robot, vision system
The advanced technology such as system, electro-optical system, hydraulic pressure, pneumatic, SERVO CONTROL, Automated condtrol, network interconnection is combined, and forms a kind of big
Type wind power equipment king-bolt big nut robot is automatically clamping system：
Including flexible floating clamp 1, six-joint robot 2, robot base 3, robot running gear 4, servo turntable 5,
Workpiece positioning clamping fixture 6, control system, intelligent hydraulic pumping plant 10 and safety barrier 22；
The flexible floating clamp 1, including cabling pipeline 11, cabling pipeline support 12, fixture adpting flange 13, clamp body
14th, bracket for laser range finder 15, floating guiding bar 16, laser range finder 17, hydraulic spanner 18, industrial camera 19, spanner reset
Air cylinder support 20, spanner reset cylinder 21；Clamp body 14 is fixedly connected by fixture adpting flange 13 with six-joint robot 2, even
Link is connected by cabling pipeline 11；Laser range finder 17 measures flexible floating clamp 1 and treats the distance component, is transferred to
Six-joint robot 2, the distance and position for adjusting and determining flexible floating clamp 1；Industrial camera 19 measures flexible floating clamp 1
With treating the plan-position component, robot 2 is transferred to, the plan-position for adjusting and determining flexible floating clamp 1；Hydraulic pressure
Spanner 18 is the direct workpiece of flexible floating clamp 1, can be along the stretching motion of floating guiding bar 16；
The six-joint robot 2, is six axis joint robots, for installing flexible floating clamp 1, coordinates workpiece and fixture
Between position, flexible floating clamp 1 is sent to the operating position set；
The robot running gear 4, including guiderail base, line slideway, rack pinion system, servomotor and
The parts such as driver, sliding panel, guide rail protection, accurately, are quickly moved for installing six axis joint robots, and with mobile robot
It is dynamic, program specified location is reached, expands robot opereating specification；
The servo turntable 5, mainly installs back table with revolvable top, servomotor and drive including turntable support, pivoting support, mold
Dynamic device, panoramic table retaining mechanism, panoramic table are to parts such as position detecting mechanism, panoramic table return-to-zero mechanisms, for installing wind power hub 7
Positioning clamping fixture, indexed, locked according to processing request；
Described wheel hub 7 is one of critical component of wind-powered electricity generation, is the pending workpiece of the system；
The workpiece positioning clamping fixture 6, mainly includes mold body, detent mechanism, workpiece locking mechanism, arrives position detecting mechanism etc.
Part, for positioning, clamping of the wind power hub 7 on servo turntable；
The control system, including general control system 9, robot control system 8, touch screen operation interface, for controlling
Each portion's group coordination operation, completes technological requirement and instructs, detection device parameters, with data record, remote monitoring and debugging,
The functions such as network interconnection；
The safety barrier 22, including safe fence, safe grating, fence gate safety switch；Enclosed safely on equipment periphery
Column is enclosed, and disconnection personnel directly contact with equipment room；In artificial loading station cloth by fence gate and safety door latch, artificial loading
During operation, fence gate is opened, and robot stops all actions, protection operator and workpiece safety with servo turntable.
Described hydraulic spanner 18 can also be replaced by hydraulic elongator.
The utility model advantage：
1st, instead of artificial, production efficiency height, production safety.
2nd, assemble quality controllable, data automatic recording, quality document is automatically generated.
3rd, remote monitoring and equipment debugging, control system are equipped with network interconnection function, administrative staff, technical staff and system
Equipment debugging personnel are not required to monitor and debug at the scene.
Brief description of the drawings
Fig. 1 be the utility model system constitute three regard design sketch.
Fig. 2 is the utility model system side view.
Fig. 3 is the utility model system top view.
Fig. 4 is the flexible floating clamp assembling schematic diagram of the utility model.
Embodiment
Embodiment one：
Including flexible floating clamp 1, six-joint robot 2, robot base 3, robot running gear 4, servo turntable 5,
Workpiece positioning clamping fixture 6, control system, intelligent hydraulic pumping plant 10 and safety barrier 22；
The flexible floating clamp 1, including cabling pipeline 11, cabling pipeline support 12, fixture adpting flange 13, clamp body
14th, bracket for laser range finder 15, floating guiding bar 16, laser range finder 17, hydraulic spanner 18, industrial camera 19, spanner reset
Air cylinder support 20, spanner reset cylinder 21；Clamp body 14 is fixedly connected by fixture adpting flange 13 with six-joint robot 2, even
Link is connected by cabling pipeline 11；Laser range finder 17 measures flexible floating clamp 1 and treats the distance component, is transferred to
Six-joint robot 2, the distance and position for adjusting and determining flexible floating clamp 1；Industrial camera 19 measures flexible floating clamp 1
With treating the plan-position component, robot 2 is transferred to, the plan-position for adjusting and determining flexible floating clamp 1；Hydraulic pressure
Spanner 18 is the direct workpiece of flexible floating clamp 1, can be along the stretching motion of floating guiding bar 16；
The six-joint robot 2, is six axis joint robots, for installing flexible floating clamp 1, coordinates workpiece and fixture
Between position, flexible floating clamp 1 is sent to the operating position set；
The robot running gear 4, including guiderail base, line slideway, rack pinion system, servomotor and
The parts such as driver, sliding panel, guide rail protection, accurately, are quickly moved for installing six axis joint robots, and with mobile robot
It is dynamic, program specified location is reached, expands robot opereating specification；
The servo turntable 5, mainly installs back table with revolvable top, servomotor and drive including turntable support, pivoting support, mold
Dynamic device, panoramic table retaining mechanism, panoramic table are to parts such as position detecting mechanism, panoramic table return-to-zero mechanisms, for installing wind power hub 7
Positioning clamping fixture, indexed, locked according to processing request；
Described wheel hub 7 is one of critical component of wind-powered electricity generation, is the pending workpiece of the system；
The workpiece positioning clamping fixture 6, mainly includes mold body, detent mechanism, workpiece locking mechanism, arrives position detecting mechanism etc.
Part, for positioning, clamping of the wind power hub 7 on servo turntable；
The control system, including general control system 9, robot control system 8, touch screen operation interface, for controlling
Each portion's group coordination operation, completes technological requirement and instructs, detection device parameters, with data record, remote monitoring and debugging,
The functions such as network interconnection；
The safety barrier 22, including safe fence, safe grating, fence gate safety switch；Enclosed safely on equipment periphery
Column is enclosed, and disconnection personnel directly contact with equipment room；In artificial loading station cloth by fence gate and safety door latch, artificial loading
During operation, fence gate is opened, and robot stops all actions, protection operator and workpiece safety with servo turntable.
System work process is as follows：
Workpiece prepares：Floating bearing is arranged on wheel hub 7 under line, and loads bolt (do not tighten, but substantially in place).
Device power-up, workpiece information typing.
Artificial loading：Wheel hub 7 is installed on the numerical control rotating platform of left side.
Six-joint robot is acted：Six-joint robot F.F., cleaning workpiece, vision and Photoelectric Detection, load hydraulic spanner, press
Setting value tightens bolt, slow power and extracts spanner out, is fast-forward to more than next bolt position repetition action, and two six-joint robots are symmetrical
Operation, bolt tightens three times (can require to set according to mounting process), records bolt point position and conjunction torque data, generation is checked
Log file.
Numerical control rotating platform is acted：Conjunction bolt face, is not directed at six-joint robot side by workpiece revolution contraposition, and six-joint robot is repeated
Above action.
Six-joint robot station is changed：Two six-joint robots are moved to right side numerical control rotating platform on robot running gear,
Numerical control rotating platform is coordinated to complete with the action of left side numerical control rotating platform.Left side numerical control rotating platform can manually blanking simultaneously.
Embodiment two：Hydraulic elongator in embodiment one is replaced with into hydraulic spanner, remaining with embodiment one, this
Scheme can be tightened to the bolt of wind power hub 7.
Embodiment three：Two servo turntables in embodiment one are changed to a servo turntable, save equipment purchase into
This, is easy to the slightly smaller producer of output to select.
Embodiment four：Remove a six axis joint robots on the basis of embodiment three, equipment cost can enter one
Step reduction.
It is described above, only the utility model preferably embodiment, but protection domain of the present utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model is disclosed, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (2)
1. a kind of large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system, it is characterised in that including：Flexibility is floated
Fixture (1), six-joint robot (2), robot base (3), robot running gear (4), servo turntable (5), workpiece positioning tire
Have (6), control system, intelligent hydraulic pumping plant (10) and safety barrier (22)；
The flexible floating clamp (1), including cabling pipeline (11), cabling pipeline support (12), fixture adpting flange (13), folder
Specifically (14), bracket for laser range finder (15), floating guiding bar (16), laser range finder (17), hydraulic spanner (18), industrial phase
Machine (19), spanner reset cylinder support (20), spanner reset cylinder (21)；Clamp body (14) by fixture adpting flange (13) and
Six-joint robot (2) is fixedly connected, and connection line is connected by cabling pipeline (11)；Laser range finder (17) measurement is flexible to float
Fixture (1) and treat the distance component, be transferred to six-joint robot (2), for adjust and determine flexible floating clamp (1) away from
Off normal and put；The flexible floating clamp (1) of industrial camera (19) measurement is transferred to robot (2), used with treating the plan-position component
In adjustment and the plan-position of the flexible floating clamp (1) of determination；Hydraulic spanner (18) is the direct work of flexible floating clamp (1)
Part, can be along floating guiding bar (16) stretching motion；
The six-joint robot (2), is six axis joint robots, for installing flexible floating clamp (1), coordinates workpiece and fixture
Between position, flexible floating clamp (1) is sent to the operating position set；
The robot running gear (4), including guiderail base, line slideway, rack pinion system, servomotor and drive
Dynamic device, sliding panel, guide rail protection part, for installing six axis joint robots, and it is accurate, quick mobile with mobile robot, arrive
Up to program specified location, expand robot opereating specification；
The servo turntable (5), mainly installs back table with revolvable top, servomotor and driving including turntable support, pivoting support, mold
Device, panoramic table retaining mechanism, panoramic table are to position detecting mechanism, panoramic table return-to-zero mechanism part, for installing wind power hub (7)
Positioning clamping fixture, is indexed according to processing request, is locked；Described wheel hub (7) is one of critical component of wind-powered electricity generation, is the system
Pending workpiece；
The workpiece positioning clamping fixture (6), mainly include mold body, detent mechanism, workpiece locking mechanism, to position detecting mechanism portion
Part, for positioning, clamping of the wind power hub (7) on servo turntable；
The control system, including general control system (9), robot control system (8), touch screen operation interface, for controlling
Each portion's group coordination operation, completes technological requirement and instructs, detection device parameters, with data record, remote monitoring and debugging,
Network interconnection function；
The safety barrier (22), including safe fence, safe grating, fence gate safety switch；Equipment periphery is by safe fence
Enclosed, disconnection personnel directly contact with equipment room；In artificial loading station cloth by fence gate and safety door latch, artificial loading behaviour
When making, fence gate is opened, and robot stops all actions, protection operator and workpiece safety with servo turntable.
2. large-scale wind electricity equipment king-bolt big nut robot according to claim 1 is automatically clamping system, its feature exists
In described hydraulic spanner (18) is replaced by hydraulic elongator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621366374.6U CN206509716U (en) | 2016-12-14 | 2016-12-14 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621366374.6U CN206509716U (en) | 2016-12-14 | 2016-12-14 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
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| CN206509716U true CN206509716U (en) | 2017-09-22 |
Family
ID=59862191
Family Applications (1)
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| CN201621366374.6U Active CN206509716U (en) | 2016-12-14 | 2016-12-14 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108326769A (en) * | 2017-12-13 | 2018-07-27 | 上海船舶工艺研究所 | A kind of robot shows school pipe flange calibration system and its application method |
| CN108705273A (en) * | 2018-05-31 | 2018-10-26 | 新疆金风科技股份有限公司 | For the assemble hub and tooling of pitch variable bearings, tool component and assemble method |
| CN110695645A (en) * | 2019-11-12 | 2020-01-17 | 黑龙江工程学院 | Computer assembling robot |
| CN111451754A (en) * | 2020-05-09 | 2020-07-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform for hub of wind driven generator and assembly method thereof |
| CN111590310A (en) * | 2020-05-09 | 2020-08-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform and method for wind driven generator yaw system |
| CN113966261A (en) * | 2019-04-18 | 2022-01-21 | 西门子歌美飒可再生能源公司 | Automatic bolt tensioning robot |
| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
| US12122003B2 (en) | 2019-07-24 | 2024-10-22 | Siemens Gamesa Renewable Energy A/S | Automated bolt tensioning robot |
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2016
- 2016-12-14 CN CN201621366374.6U patent/CN206509716U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108326769A (en) * | 2017-12-13 | 2018-07-27 | 上海船舶工艺研究所 | A kind of robot shows school pipe flange calibration system and its application method |
| CN108705273A (en) * | 2018-05-31 | 2018-10-26 | 新疆金风科技股份有限公司 | For the assemble hub and tooling of pitch variable bearings, tool component and assemble method |
| CN108705273B (en) * | 2018-05-31 | 2019-09-27 | 新疆金风科技股份有限公司 | For assemble hub and the tooling of pitch variable bearings, tool component and assemble method |
| CN113966261A (en) * | 2019-04-18 | 2022-01-21 | 西门子歌美飒可再生能源公司 | Automatic bolt tensioning robot |
| US12122003B2 (en) | 2019-07-24 | 2024-10-22 | Siemens Gamesa Renewable Energy A/S | Automated bolt tensioning robot |
| CN110695645A (en) * | 2019-11-12 | 2020-01-17 | 黑龙江工程学院 | Computer assembling robot |
| CN111451754A (en) * | 2020-05-09 | 2020-07-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform for hub of wind driven generator and assembly method thereof |
| CN111590310A (en) * | 2020-05-09 | 2020-08-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform and method for wind driven generator yaw system |
| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190823 Address after: 332900 Second Floor of 399 Jiulian South Road Administrative Service Center, Lianxi District, Jiujiang City, Jiangxi Province Patentee after: Jiangxi Qingyan Yangtian Technology Co. Ltd. Address before: 116037 Liaoning City, Dalian Province, Ganjingzi District, Ling Ling Street, unit 73, unit 4, layer 2, No. 1 Patentee before: Dalian Yangtian Technology Co. Ltd. |
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| TR01 | Transfer of patent right |