CN219190066U

CN219190066U - Be used for wind-powered electricity generation wheel hub to become oar bearing intelligent assembly system

Info

Publication number: CN219190066U
Application number: CN202223050670.3U
Authority: CN
Inventors: 俞琦; 罗钢; 徐明涛
Original assignee: Anhui Juyi Technology Co Ltd
Current assignee: Anhui Juyi Technology Co Ltd
Priority date: 2022-11-15
Filing date: 2022-11-15
Publication date: 2023-06-16
Anticipated expiration: 2032-11-15

Abstract

The utility model provides an intelligent assembly system for a wind power hub variable pitch bearing, and belongs to the technical field of wind power hub bearing assembly. The intelligent assembly system includes: a portal frame; the lifting mechanism is connected with the portal frame; the beam grabbing disc is connected with the lifting mechanism, moves along with the lifting mechanism in the vertical direction of the portal frame and is used for grabbing a variable pitch bearing to be installed; the hub tray is arranged on one surface of the portal frame and used for fixing and transporting the wind power hub; the bearing tray is arranged on the other surface of the portal frame and used for fixing and transporting the variable pitch bearing; the six-axis robot is arranged between the hub tray and the bearing tray and is used for installing the variable-pitch bearing onto the wind power hub. The intelligent assembly system can reduce the operation danger coefficient of a large-sized workpiece.

Description

Be used for wind-powered electricity generation wheel hub to become oar bearing intelligent assembly system

Technical Field

The utility model relates to the technical field of wind power hub bearing assembly, in particular to an intelligent assembly system for a wind power hub variable pitch bearing.

Background

Wind power hubs and pitch bearings are important components of wind power generators, and with the development of wind power generation technology, the sizes of the hubs and the pitch bearings are increased, so that the assembly of the hubs and the pitch bearings is more difficult. The existing mainstream assembly mode is used for manually operating the large-scale crane to operate, manually taking and screwing bolts, the operation of manually operating the large-scale workpiece is low in efficiency and high in risk coefficient, 300-400 large-scale bolts are required to be installed on each product, and operators need to frequently ascend and descend.

Disclosure of Invention

The utility model aims to provide an intelligent assembly system for a wind power hub variable pitch bearing, which can reduce the operation risk coefficient of a large-sized workpiece.

In order to achieve the above object, the present utility model provides an intelligent assembly system for a wind power hub pitch bearing, the intelligent assembly system comprising:

a portal frame;

the lifting mechanism is connected with the portal frame;

the beam grabbing disc is connected with the lifting mechanism, moves along with the lifting mechanism in the vertical direction of the portal frame and is used for grabbing a variable pitch bearing to be installed;

the hub tray is arranged on one surface of the portal frame and used for fixing and transporting the wind power hub;

the bearing tray is arranged on the other surface of the portal frame and used for fixing and transporting the variable pitch bearing;

the six-axis robot is arranged between the hub tray and the bearing tray and is used for installing the variable-pitch bearing onto the wind power hub.

Optionally, the beam grabbing disc includes: the cross beam is connected with the lifting mechanism;

the transverse displacement mechanism is connected with the cross beam;

and the rotary slewing bearing is connected with the transverse displacement mechanism and used for fixing the axle center of the pitch bearing so that the pitch bearing can rotate in the beam grabbing disc.

Optionally, the beam grabbing disc comprises a grabbing disc for grabbing the pitch bearing.

Optionally, the intelligent assembly system further comprises a turnover mechanism;

the cross beam is connected with the lifting mechanism through the turnover mechanism.

Optionally, the beam grabbing disc comprises a speed reducer, and the speed reducer is connected with the beam and used for being started to lock the rotation of the pitch bearing.

Optionally, the speed reducer comprises a servo motor for locking the rotation of the pitch bearing through transmission.

Optionally, the hub tray includes a steering mechanism, and is disposed at the bottom of the frame for fixing the wind power hub, and is used for starting to drive the hub tray to rotate.

Optionally, a movable ground rail is arranged at the bottom of the portal frame, a robot base is arranged on the movable ground rail, and the six-axis robot is arranged on the robot base.

Optionally, the intelligent assembly system bolt rack, the bolt rack is arranged in the outside of six robots.

Optionally, the hub tray and the bearing tray each include an AGV device for driving the hub tray and the bearing tray to move.

Through the technical scheme, the intelligent assembly system for the wind power hub variable pitch bearing provided by the utility model has the advantages that the movement of the beam grabbing disc in the vertical direction of the portal frame is realized through the portal frame, the lifting mechanism and the beam grabbing disc, the variable pitch bearing to be installed is grabbed, the fixation and transportation of the wind power hub and the variable pitch bearing are realized by combining the hub tray and the bearing tray, the wind power hub and the variable pitch bearing are attached to the hub by the portal frame, and the installation of the wind power hub and the variable pitch bearing is realized by combining the six-axis robot, so that the manual participation is not needed in the execution process, and the operation danger coefficient of a large-sized workpiece is reduced.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain, without limitation, the embodiments of the utility model. In the drawings:

FIG. 1 is a schematic diagram of a wind power hub pitch bearing intelligent assembly system according to one embodiment of the utility model;

FIG. 2 is a schematic view of a gantry according to one embodiment of the present utility model;

fig. 3 is a schematic view of a beam catch basin according to an embodiment of the utility model.

Description of the reference numerals

1. Portal frame 2 and lifting mechanism

3. Cross beam grabbing disc 4 and hub tray

5. Bearing tray 6, six-axis robot

7. Robot clamp 8 and steering mechanism

9. Wind power hub 10 and movable ground rail

11. Robot base 12 and bolt rack

13. AGV device 14, beam reinforcement

15. Positioning seat 16 and turnover mechanism

17. Hoisting bolt fixing frame 3-1 and cross beam

3-2, a grabbing disc 3-3 and a transverse displacement mechanism

3-4, a rotary slewing bearing 3-5 and a speed reducer

3-6, a servo motor 3-7 and a variable pitch bearing

3-8, spring locating pin

Detailed Description

The following describes the detailed implementation of the embodiments of the present utility model with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

FIG. 1 is a schematic diagram of an intelligent assembly system for a wind power hub pitch bearing according to one embodiment of the utility model. In this fig. 1, the intelligent assembly system may comprise a gantry 1, a lifting mechanism 2, a beam grabbing disc 3, a hub tray 4, a bearing tray 5, a six-axis robot 6, wherein the lifting mechanism 2 is connected with the gantry 1, the beam grabbing disc 3 is connected with the lifting mechanism 2 for grabbing a pitch bearing 3-7 to be mounted as the lifting mechanism 2 moves in the vertical direction of the gantry 1. The hub tray 4 is arranged on one surface of the portal frame 1 and is used for fixing and transporting a wind power hub 9; the bearing tray 5 is arranged on the other side of the portal frame 1 and is used for fixing and transporting the variable-pitch bearings 3-7. The six-axis robot 6 is arranged between the hub tray 4 and the bearing tray 5 and is used for mounting the pitch bearings 3-7 on the wind power hub 9.

In this embodiment, a movable ground rail 10 is arranged at the bottom of the portal frame 1, so that when the beam grabbing disc 3 grabs the pitch bearing 3-7 to be in butt joint with the wind power hub 9, the portal frame 1 drives the beam grabbing disc 3 to move towards the wind power hub 9, and the specific position is shown in fig. 2. In order to drive the wind power wheel hub 9 and the variable-pitch bearings 3-7 to move, the wheel hub tray 4 and the bearing tray 5 both comprise AGV equipment 13, the wheel hub tray 4 comprises a steering mechanism 8, the steering mechanism is arranged at the bottom of a frame for fixing the wind power wheel hub 9 and used for starting to drive the wheel hub tray 4 to rotate, and after the wheel hub tray 4 and the wind power wheel hub 9 are in place, the steering mechanism 8 drives a rotating disk above the tray to drive the wind power wheel hub 9 to rotate. In order to monitor the rotation direction of the wind power hub 9, in this embodiment, a robot base 11 is disposed on the movable ground rail 10, the six-axis robot 6 is disposed on the robot base 11, the robot clamp 7 is fixed at the tail end of the six-axis robot 6, the robot clamp 7 is provided with a bolt clamp, a visual detection function and a displacement detection function, and when the steering mechanism 8 drives the hub tray 4 to rotate, the robot clamp 7 positions the first face of the wind power hub 9 through the displacement detection function.

In this embodiment, the beam catch pan 3 includes: the transverse beam 3-1 is connected with the lifting mechanism 2, and the transverse displacement mechanism 3-3 is connected with the transverse beam 3-1 so that the transverse beam grabbing disc 3 can transversely displace left and right when the variable pitch bearing 3-7 is grabbed by the transverse beam grabbing disc 3; the beam grabbing disc 3 further comprises grabbing discs 3-2 used for grabbing a variable-pitch bearing 3-7, after the beam grabbing discs 3 are attached to the variable-pitch bearing 3-7, a spring locating pin 3-8 is inserted into a locating pin hole of the variable-pitch bearing 3-7, whether the spring locating pin 3-8 enters the pin hole is judged through a visual detection function of a robot clamp 7, the robot clamp 7 of the six-axis robot 6 clamps hoisting bolts on four hoisting bolt fixing frames 17 respectively, and the grabbing discs 3-2 are fixed with the variable-pitch bearing 3-7. The beam grabbing disc 3 further comprises a rotary slewing bearing 3-4 which is connected with the transverse displacement mechanism 3-3 and used for fixing the axle center of the variable-pitch bearing 3-7, so that the variable-pitch bearing 3-7 can rotate in the beam grabbing disc 3 to be aligned with bolt hole sites of the wind turbine hubs 9. In order to reduce the rotation of the pitch bearing 3-7 and to increase the output torque, the beam turntable 3 is further provided with a speed reducer 3-5 connected to the beam 3-1 of the beam gripping disk 3, in this embodiment, the speed reducer 3-5 further comprises a servo motor 3-6 for controlling the speed and the position accuracy. The beam catch pan 3 may be as shown in fig. 3.

In order to enable the butt joint surfaces of the wind power hub 9 and the pitch bearing 3-7 to be in accurate butt joint, the intelligent assembly system further comprises a turnover mechanism 16, the cross beam 3-1 is connected with the lifting mechanism 2 through the turnover mechanism 16, the pitch bearing 3-7 is identified by the robot clamp 7 of the six-axis robot 6, the height of a layer and the center coordinates of the bearing are mainly identified, the bearing is hoisted Kong Zuobiao, and the like, after identification, the cross beam grabbing disc 3 is lowered to a corresponding height according to an instruction, and the cross beam grabbing disc 3 is turned through the turnover mechanism 16, and a corresponding angle is adjusted. In this embodiment, the lifting mechanism 2 is also provided with a beam reinforcement 14 at the top for reinforcing the fixing action to prevent large deformations of the whole gantry. Under the guidance of vision and displacement detection sensors, the variable pitch bearing 3-7 is lifted, turned over and moved forward through the cross beam grabbing disc 3 under the combined action of the whole large gantry, the variable pitch bearing and the wind power hub 9 are accurately positioned on the first face, the robot clamp 7 clamps a plurality of fastening bolts, the variable pitch bearing 3-7 and the wind power hub 9 are fixed together, the robot clamp 7 clamps bolts for convenience, a bolt placing frame 12 is arranged on the outer side of the six-axis robot 6, and the bolt placing frame 12 is positioned on the positioning seat 15. After the variable pitch bearing 3-7 is fixed with the wind power hub 9, the four hoisting bolts are disassembled, the beam grabbing disc 3 is retracted to the position above the bearing tray 5, the robot clamp 7 is used for installing the residual fastening bolts of the variable pitch bearing 3-7 on the first surface of the wind power hub 9, and after the fastening bolts on the first surface of the wind power hub 9 are installed, the above actions are repeated, so that the variable pitch bearing 3-7 on the other two surfaces of the wind power hub 9 is installed.

The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited thereto. The technical solution of the utility model can be subjected to a plurality of simple variants within the scope of the technical idea of the utility model. Including the combination of the specific features in any suitable manner, the utility model will not be described in any way in any possible combination in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims

1. An intelligent assembly system for a wind power hub variable pitch bearing, the intelligent assembly system comprising:

a portal frame (1);

the lifting mechanism (2) is connected with the portal frame (1);

the beam grabbing disc (3) is connected with the lifting mechanism (2) so as to move along with the lifting mechanism (2) in the vertical direction of the portal frame (1) and is used for grabbing a variable-pitch bearing (3-7) to be installed;

the hub tray (4) is arranged on one surface of the portal frame (1) and is used for fixing and transporting a wind power hub (9);

the bearing tray (5) is arranged on the other surface of the portal frame (1) and is used for fixing and transporting the variable-pitch bearings (3-7);

the six-axis robot (6) is arranged between the hub tray (4) and the bearing tray (5) and is used for installing the variable-pitch bearing (3-7) on the wind power hub (9).

2. The intelligent assembly system according to claim 1, wherein the beam catch (3) comprises:

the cross beam (3-1) is connected with the lifting mechanism (2);

a transverse displacement mechanism (3-3) connected with the cross beam (3-1);

the rotary slewing bearing (3-4) is connected with the transverse displacement mechanism (3-3) and used for fixing the axle center of the variable-pitch bearing (3-7) so that the variable-pitch bearing (3-7) can rotate in the cross beam grabbing disc (3).

3. Intelligent assembly system according to claim 2, characterized in that the beam gripping disc (3) comprises a gripping disc (3-2) for gripping the pitch bearing (3-7).

4. The intelligent assembly system according to claim 2, further comprising a flipping mechanism (16);

the cross beam (3-1) is connected with the lifting mechanism (2) through the turnover mechanism (16).

5. Intelligent assembly system according to claim 2, characterized in that the beam gripper (3) comprises a speed reducer (3-5) connected to the beam (3-1) for actuation to lock the rotation of the pitch bearing (3-7).

6. The intelligent assembly system according to claim 5, wherein the speed reducer (3-5) comprises a servo motor (3-6) for locking the rotation of the pitch bearing (3-7) by transmission.

7. The intelligent assembly system according to claim 1, wherein the hub tray (4) comprises a steering mechanism (8) arranged at the bottom of a frame for fixing the wind power hub (9) for starting to drive the hub tray (4) to rotate.

8. The intelligent assembly system according to claim 1, wherein a movable ground rail (10) is arranged at the bottom of the portal frame (1), a robot base (11) is arranged on the movable ground rail, and the six-axis robot (6) is arranged on the robot base (11).

9. The intelligent assembly system according to claim 1, characterized in that the intelligent assembly system bolts racks (12), the bolts racks (12) being arranged outside the six-axis robot (6).

10. The intelligent assembly system according to claim 1, characterized in that the hub tray (4) and the bearing tray (5) each comprise an AGV device (13) for driving the hub tray (4) and the bearing tray (5) in motion.