DK2607685T3 - Robot til montering og fastspænding af skruer til vindmøller - Google Patents

Robot til montering og fastspænding af skruer til vindmøller

Info

Publication number
DK2607685T3
DK2607685T3 DK11194856.8T DK11194856T DK2607685T3 DK 2607685 T3 DK2607685 T3 DK 2607685T3 DK 11194856 T DK11194856 T DK 11194856T DK 2607685 T3 DK2607685 T3 DK 2607685T3
Authority
DK
Denmark
Prior art keywords
robot
mounting
wind turbines
fastening screws
screws
Prior art date
Application number
DK11194856.8T
Other languages
English (en)
Inventor
Lars Jagd
Jonas Bovin
Gerald Marinitsch
Kenneth Johst
Original Assignee
Kenneth Johst
Lars Jagd
Jonas Bovin
Gerald Marinitsch
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kenneth Johst, Lars Jagd, Jonas Bovin, Gerald Marinitsch filed Critical Kenneth Johst
Application granted granted Critical
Publication of DK2607685T3 publication Critical patent/DK2607685T3/da

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/40—Arrangements or methods specially adapted for transporting wind motor components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/50—Building or constructing in particular ways
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/91—Mounting on supporting structures or systems on a stationary structure
    • F05B2240/912—Mounting on supporting structures or systems on a stationary structure on a tower
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/30—Retaining components in desired mutual position
    • F05B2260/301—Retaining bolts or nuts
    • 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
    • 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
    • Y02E10/728—Onshore wind turbines
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
  • Wind Motors (AREA)
DK11194856.8T 2011-12-21 2011-12-21 Robot til montering og fastspænding af skruer til vindmøller DK2607685T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11194856.8A EP2607685B1 (en) 2011-12-21 2011-12-21 Bolt mounting and tightening robot for wind turbines

Publications (1)

Publication Number Publication Date
DK2607685T3 true DK2607685T3 (da) 2014-05-19

Family

ID=47324179

Family Applications (1)

Application Number Title Priority Date Filing Date
DK11194856.8T DK2607685T3 (da) 2011-12-21 2011-12-21 Robot til montering og fastspænding af skruer til vindmøller

Country Status (7)

Country Link
US (1) US9212651B2 (da)
EP (1) EP2607685B1 (da)
JP (1) JP6297499B2 (da)
KR (1) KR101958676B1 (da)
CA (1) CA2857258C (da)
DK (1) DK2607685T3 (da)
WO (1) WO2013092291A1 (da)

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EP3163071B8 (en) * 2015-10-29 2020-05-27 GE Renewable Technologies Wind B.V. Automatic tightening of bolts
DK3195974T3 (da) * 2016-01-21 2022-11-28 Admede Ab Robot til at bevæge en støtteplatform langs en flangeforbindelse
EP3195991B1 (en) 2016-01-21 2019-03-06 Admede Ab Robot with positioning means to move a tool along a flange connection
US10632577B2 (en) 2017-05-17 2020-04-28 General Electric Company Turbomachine service apparatus and related method
US10598158B2 (en) 2017-07-20 2020-03-24 General Electric Company System and method for removing or installing rotor blade hardware of a wind turbine
DE102017119676A1 (de) * 2017-08-28 2019-02-28 Frank Hohmann Verfahren zum dokumentierten Anziehen oder Nachziehen einer Schraubverbindung
CN109822333A (zh) * 2017-11-23 2019-05-31 上海舜诺机械有限公司 一种法兰连接螺栓行走车
EP3721081B1 (en) 2017-12-06 2021-10-27 Vestas Wind Systems A/S Automated tightening of bolts
DE102018107657A1 (de) * 2018-03-29 2019-10-02 Frank Hohmann Vorrichtung zum Anziehen von Schraubverbindungen
DE102018107653A1 (de) * 2018-03-29 2019-10-02 Frank Hohmann Vorrichtung zum Anziehen von Schraubverbindungen
CN108857354A (zh) * 2018-05-09 2018-11-23 上海电气自动化设计研究所有限公司 一种风机轮毂叶片轴承面的螺栓螺母紧固系统及其方法
CN108882189B (zh) * 2018-06-07 2020-11-10 福州大学 一种基于自适应杠杆抽样的WiFi室内定位方法
DE102018131305A1 (de) * 2018-12-07 2020-06-10 Jörg Hohmann Verfahren zum Anziehen von Schraubverbindungen
EP3769904A1 (en) * 2019-07-24 2021-01-27 Siemens Gamesa Renewable Energy A/S Automated bolt tensioning robot
EP3934843A1 (en) * 2019-04-18 2022-01-12 Siemens Gamesa Renewable Energy A/S Automated bolt tensioning robot
CN114072578B (zh) * 2019-05-21 2023-08-18 维斯塔斯风力系统有限公司 用于张紧风力涡轮机塔架的塔架螺栓的工具组件
CN110795875B (zh) * 2019-10-14 2023-05-09 太原科技大学 一种风机轴-齿轮箱法兰连接校核方法
EP3832132B1 (de) 2019-12-06 2023-06-07 Wobben Properties GmbH Verfahrbare wartungsvorrichtung, verfahrbare montagevorrichtung und verfahren
DE102020105104A1 (de) 2020-02-27 2021-09-02 Frank Hohmann Verfahren zum Anziehen von Schraubverbindungen, Mehrfachschraubvorrichtung
DE102020110895A1 (de) 2020-04-22 2021-10-28 SCHAAF GmbH & Co. KG Verfahren zur Installation und/oder Wartung einer Flanschverbindung sowie Werkzeug und Verwendung
DE102021201381B3 (de) * 2021-02-15 2022-07-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Roboter zum automatischen Stecken von Verbindungselementen
EP4063647B1 (en) * 2021-03-26 2024-01-03 Siemens Gamesa Renewable Energy A/S Tightening device
CN113334071B (zh) * 2021-06-16 2022-05-17 三一重能股份有限公司 一种风力发电机偏航制动器装配平台及全自动装配方法
NL1044234B1 (en) 2021-12-09 2023-06-26 Intomechanics B V Self-centering machine for manipulating nut and bolt assemblies
CN114347073A (zh) * 2021-12-20 2022-04-15 昆山青眼自动化技术有限公司 一种基于ur机器人的多机协作控制系统
EP4249166A1 (en) 2022-03-23 2023-09-27 Admede Ab Tightening device for tightening a series of nuts pre-screwed on bolts
CN114559436A (zh) * 2022-03-25 2022-05-31 北京博联众睿机器人科技有限公司 一种装配机器人拧紧方法、系统以及存储介质
CN114986428A (zh) * 2022-06-29 2022-09-02 广东科凯达智能机器人有限公司 一种用于风电机组塔筒螺栓的紧固机构
CN114799851B (zh) * 2022-06-29 2022-09-30 广东科凯达智能机器人有限公司 一种风电机组塔筒螺栓紧固机器人及其使用方法
CN114799850B (zh) * 2022-06-29 2022-09-30 广东科凯达智能机器人有限公司 一种应用于风电塔筒的螺栓维护机器人及应用方法
EP4338883A1 (en) 2022-09-16 2024-03-20 Admede Ab Method of detecting a position of at least one bolt end of at least one bolt
WO2024072818A2 (en) * 2022-09-26 2024-04-04 HYTORC Division Unex Corporation Automated trolley system for tightening tower segments in wind turbines
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Also Published As

Publication number Publication date
JP6297499B2 (ja) 2018-03-20
EP2607685A1 (en) 2013-06-26
JP2015505279A (ja) 2015-02-19
KR20140116073A (ko) 2014-10-01
KR101958676B1 (ko) 2019-03-18
WO2013092291A1 (en) 2013-06-27
CA2857258A1 (en) 2013-06-27
US9212651B2 (en) 2015-12-15
CA2857258C (en) 2019-08-13
US20140350724A1 (en) 2014-11-27
EP2607685B1 (en) 2014-03-05

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