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)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101194576B1 (ko) * 2010-12-16 2012-10-25 삼성중공업 주식회사 풍력 터빈 조립 및 관리 로봇 및 이를 포함하는 풍력 터빈 시스템
WO2016193297A1 (en) * 2015-06-01 2016-12-08 Total Wind A/S Robot and working tool for performing assembly and maintenance operations in a sectioned tower
EP3163071B8 (en) * 2015-10-29 2020-05-27 GE Renewable Technologies Wind B.V. Automatic tightening of bolts
EP3195974B1 (en) 2016-01-21 2022-09-21 Admede Ab Robot to move a support platform along a flange connection
DK3195991T3 (da) 2016-01-21 2019-06-11 Admede Ab Robot med positioneringsmidler til bevægelse af et værktøj langs en flangeforbindelse
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
WO2019110061A1 (en) * 2017-12-06 2019-06-13 Vestas Wind Systems A/S Automated tightening of bolts
DE102018107653A1 (de) 2018-03-29 2019-10-02 Frank Hohmann Vorrichtung zum Anziehen von Schraubverbindungen
DE102018107657A1 (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
US20220203486A1 (en) * 2019-04-18 2022-06-30 Siemens Gamesa Renewable Energy A/S Automated bolt tensioning robot
EP3769904A1 (en) * 2019-07-24 2021-01-27 Siemens Gamesa Renewable Energy A/S Automated bolt tensioning robot
EP3973179B1 (en) * 2019-05-21 2024-06-26 Vestas Wind Systems A/S A tool assembly for tensioning tower bolts of a wind turbine tower
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
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
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
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
NL1044424B1 (en) 2022-09-26 2024-04-03 Intomechanics B V Movable bolting tool for manipulating nut and bolt assemblies of a bolted flange assembly
CN116372559B (zh) * 2023-04-21 2023-12-19 中交第三航务工程局有限公司 一种海上风电塔筒螺栓的自动紧固机器人及紧固方法
CN116690175B (zh) * 2023-08-02 2024-01-16 广东科凯达智能机器人有限公司 一种风电塔筒螺栓维护机器人及其作业方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6366391U (da) * 1986-10-21 1988-05-02
JPS63221983A (ja) * 1987-03-12 1988-09-14 株式会社東芝 大型フランジ面の自動点検補修装置
JP2640355B2 (ja) * 1988-03-11 1997-08-13 バブコツク日立株式会社 圧力容器の開閉装置
JPH0671581A (ja) * 1992-08-26 1994-03-15 Mitsubishi Heavy Ind Ltd マニプレータの位置決め装置
JPH0680074A (ja) * 1992-09-01 1994-03-22 Toshiba Corp 軌道走行式ロボット
JP3247015B2 (ja) * 1994-09-16 2002-01-15 株式会社クボタ 管の接合装置
JPH0965640A (ja) * 1995-08-25 1997-03-07 Hitachi Metals Ltd 磁石式チエンベルト
JP3372434B2 (ja) * 1996-11-19 2003-02-04 三菱重工業株式会社 壁面吸着式移動装置
JPH1158150A (ja) * 1997-08-27 1999-03-02 Shinko Techno Kk 型枠用ボルト締緩装置における型枠番号管理装置
WO2007059768A1 (en) * 2005-11-24 2007-05-31 Vestas Wind Systems A/S A wind turbine tower, connection means for assembling a wind turbine tower and methods hereof
DE102008016925A1 (de) * 2008-04-02 2009-10-08 Wobben, Aloys Windenergieanlage mit mehreren Konstruktionsabschnitten
US20110154757A1 (en) * 2008-05-02 2011-06-30 Vestas Wind Systems A/S Tower section for a wind turbine tower
KR101194576B1 (ko) * 2010-12-16 2012-10-25 삼성중공업 주식회사 풍력 터빈 조립 및 관리 로봇 및 이를 포함하는 풍력 터빈 시스템
US8640558B2 (en) * 2011-09-12 2014-02-04 Honeywell International Inc. System for the automated inspection of structures at height

Also Published As

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

Similar Documents

Publication Publication Date Title
DK2607685T3 (da) Robot til montering og fastspænding af skruer til vindmøller
DK2365219T3 (da) System til afisning af en vindmøllevinge
DK2590304T3 (da) Vindmøllegenerator og vindmølle
DK2466128T3 (da) Vindmølle og fremgangsmåde til styring af en vindmølle
DK2375068T3 (da) Systemer og fremgangsmåder til at overvåge en strukturel sundhedstilstand af en vindmølle
DK2511477T3 (da) Vindmølle med overgangsområde
DK2559892T3 (da) Fremgangsmåde til overvågning af vindmøller
DK2292928T3 (da) Fremgangsmåder og systemer til vindmøllestyring
DK2369432T3 (da) Testsystem til optimering af vindmølledrift
DK2530302T3 (da) Vindmølle og kontrolfremgangsmåde til at kontrollere samme
DK2522852T3 (da) System til dannelse af vindkraft
DK2657518T3 (da) Fremgangsmåder og systemer til drift af en vindmølle i støjreducerede driftstilstande
DK2633191T3 (da) Vindmøllevingemonteringssystem
DK2416009T3 (da) Direkte drevet vindmølle og metode til styring af luftspalte
ES1071742Y (es) Estructura de fijacion de paneles solares
DK2453129T3 (da) Vinge til en vindmølle
DK2546516T3 (da) Vindmøllehjælpedrevssystem
DK2546515T3 (da) Vindmøllekøleanordning
FR2983535B1 (fr) Hydrolienne
DK2441950T3 (da) Vinge til en vindmølle
DK2578879T3 (da) Køleanordning til en vindmølle
FR2961348B1 (fr) Panneau photovoltaique
DK2574781T3 (da) Vindmøllerotor
FR2965592B1 (fr) Eolienne
FI20105890A (fi) Tuulivoimalarakenne