Simulation method for hoisting process of irregular body of wind power equipment

Abstract

The present invention discloses a method for simulating the hoisting process of an irregular body of a wind power equipment, comprising the following steps: constructing an irregular body model and a crane model; creating an auxiliary rotating device and defining the auxiliary rotating device as a motion mechanism; positioning the auxiliary rotating device to an assembly position and connecting it to the crane and the irregular body; driving the auxiliary rotating device and the crane, and then performing a hoisting analysis. First, a simulated irregular body and a crane model are created, and then an auxiliary rotating device is created, the auxiliary rotating device is defined as a motion mechanism, and then the auxiliary rotating device is positioned to the assembly position of the irregular body, the auxiliary rotating device connects the crane and the irregular body, and the auxiliary rotating device is driven to rotate to simulate the rising process of the irregular body in actual hoisting, and the hoisting analysis is completed. Using this method for process simulation can improve the authenticity of the simulation, improve the effectiveness of the results, improve the R&D efficiency for enterprises, reduce manufacturing costs, and shorten product life cycles.

Description

Technical Field

[0001] The invention relates to a method for simulating the hoisting process of wind power equipment, and in particular to a method for simulating the hoisting process of an irregular body of wind power equipment. Background Art

[0002] Wind turbines have many types of assembly processes, many hoisting processes, high quality requirements, and are characterized by multiple models, small batches, frequent changes, and many auxiliary tooling tools. In the prior art, wind turbine equipment assembly is done through the actual assembly of prototypes and the first trial assembly method to discover overlooked problems, link design processes and mass production, and avoid major losses. However, this method has become increasingly unable to meet the needs of the times and fierce market competition. Active research and use of new methods and tools can meet the needs of the development of intelligent manufacturing.

[0003] Process simulation technology can simulate each step of assembly operation and display the actual assembly process of the product in a visual way on the computer. Specifically, it can realize the visualization operation and demonstration of the equipment process by importing product resources, process planning and layout, importing and simulating tooling, workshop equipment and human models, and using computer graphics and simulation technology. However, there are few applications of hoisting simulation at present. In addition, there are differences between the commonly used simulation methods in the industry and the actual situation, resulting in significant differences between the simulation results and the actual situation. Summary of the invention

[0004] The purpose of the present invention is to overcome the problem in the prior art that electrical wind power irregular bodies cannot realize hoisting simulation in complex environments, and to propose a method for simulating the hoisting process of wind power equipment irregular bodies.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] A method for simulating the hoisting process of an irregular body of a wind power equipment comprises the following steps:

[0007] S1: Construct irregular body model and driving model;

[0008] S2: Create an auxiliary rotating device and define the auxiliary rotating device as a motion mechanism;

[0009] S3: Positioning the auxiliary rotating device to the assembly position and connecting it to the crane and the irregular body;

[0010] S4: Drive auxiliary rotating equipment and crane, and then perform lifting analysis.

[0011] In this solution, the model of the simulated irregular body and the crane is created first, and then the auxiliary rotating device is created, the auxiliary rotating device is defined as a motion mechanism, and then the auxiliary rotating device is positioned to the assembly position of the irregular body, the auxiliary rotating device connects the crane and the irregular body, and the auxiliary rotating device is driven to rotate to simulate the rising process of the irregular body in actual hoisting, and the hoisting analysis is completed, so as to accurately control the irregular body in the actual installation process. Using this method for process simulation can improve the authenticity of the simulation, improve the effectiveness of the results, improve the R&D efficiency of enterprises, reduce manufacturing costs, and shorten the product life cycle.

[0012] Preferably, step S2 includes:

[0013] S21: creating an auxiliary rotation device, creating a first coordinate, and creating a first straight line based on the first coordinate;

[0014] S22: Select the first straight line as a fixed component to create a first motion link; then, select the first coordinate to create a second motion link;

[0015] S23: Create a joint between the first motion link and the second motion link, set the axis to the X direction, and select the joint type to be rotation.

[0016] In this solution, through the above three steps S21, S22, and S23, the creation of the auxiliary rotation device and the kinematic pairs required for connection with the auxiliary rotation device are completed.

[0017] Preferably, the distance of the first straight line is greater than 50 mm.

[0018] In this solution, according to the actual length of the auxiliary rotation device and the modeling ratio, the length of the auxiliary rotation device is set to be greater than 50 mm.

[0019] Preferably, the first straight line and the first coordinate are set to a display state, so that the first straight line and the first coordinate are displayed in a non-modeling mode.

[0020] In this solution, the first straight line and the first coordinate are set to a display state, so that the first straight line and the first coordinate are displayed without modeling, so that the model required for simulation is displayed, which is convenient for post-simulation analysis.

[0021] Preferably, step S3 includes:

[0022] S31: positioning the sling and the shackle on the tooling, positioning the sling on the shackle; and then positioning the sling and the shackle on the tooling;

[0023] S32: positioning the auxiliary rotating device on the shackle;

[0024] S33: Connecting the tooling to the second motion link in the auxiliary rotating device; connecting the auxiliary rotating device and the sling to the hook of the crane, and connecting the shackle to the sling;

[0025] S34 uses the auxiliary rotating device as the external shaft of the crane.

[0026] In this solution, the sling and the shackle are positioned on the tooling, the auxiliary rotating device is selected and positioned on the shackle, the auxiliary rotating device and the sling are connected to the hook of the crane, the shackle is connected to the sling, and then the auxiliary rotating device is used as the external axis of the crane; through the above steps, the auxiliary rotating device is positioned at the assembly position of the irregular body and connected to the crane as the external axis.

[0027] Preferably, in step S3, the rotation axis of the auxiliary rotation device coincides with the X-axis of the coordinate system of the shackle; the X-axis of the coordinate system of the shackle coincides with the rotation axis of the tooling and the hook.

[0028] In this solution, by aligning the rotation axis of the auxiliary rotating device with the X axis of the coordinate system of the shackle and the rotation axes of the tooling and the hook, it is ensured that the rotation axis of the auxiliary rotating device coincides with the rotation axis of the through hole of the tooling.

[0029] Preferably, the sling is sleeved on the hook and the shackle, the shackle passes through a through hole of the tooling and a rotation axis of the shackle is parallel to the through hole.

[0030] In this solution, the sling is sleeved on the hook, the shackle passes through the through hole of the tooling to fix the sling in the hook, and the tooling and the sling are connected to each other through the shackle.

[0031] Preferably, step S4 includes:

[0032] S41: Select the crane and create a new starting point for the crane simulation movement; then, add a first point after the starting point and reposition it to the lifting position;

[0033] S42: Setting the external axis, when the crane runs to the lifting position according to the simulation, first determine whether the connection relationship is as described above to assist the rotating device to the assembly position; after the connection relationship is satisfied, select the auxiliary rotating device of the external axis of the crane;

[0034] S43: Setting a stepped external shaft to simulate the process of the crane lifting tooling.

[0035] In this solution, by adding points, the crane is repositioned to the starting point as the starting point of the simulation, and then the external axis is set to confirm whether the auxiliary rotation equipment is in the assembly position. After confirmation, the auxiliary rotation equipment of the crane's external axis is selected, and the rotation angle of the external axis is set to a gradient to start simulating the lifting process.

[0036] Preferably, in step S43, the starting angle of the external axis is set to -5°, and a step is set at every -5°.

[0037] In this solution, the external axis of the ground is set to -5°, and a step is set at every -5° interval, which can simulate various forms of irregular lifting during the lifting and rising process.

[0038] Preferably, in step S1, the irregular body is a pitch control cabinet.

[0039] In this solution, a pitch control cabinet is used as a simulated irregular body, which is lifted from a ground position to the air through a lifting ring.

[0040] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0041] The positive progressive effect of the present invention is that the existing hoisting simulation technology is to fix directly at the lifting point and then give the whole a load. This method does not take into account the problem of uneven mass distribution of the equipment itself. This solution fully considers various problems such as tilting and rotation that may occur during the actual hoisting process, and meets the simulation requirements of the irregular body of wind power equipment. Using this innovative method to simulate the process can fully improve the authenticity of the simulation process, improve the effectiveness of the output results, and enhance the guiding significance of the simulation results. Only in this way can the value of simulation software applications be truly reflected, and truly help enterprises improve R&D efficiency, reduce manufacturing costs, and shorten the entire product life cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The figure is a schematic diagram of the three-dimensional structure of a vehicle according to an embodiment of the present invention.

[0043] Figure 2 It is a schematic diagram of a three-dimensional structure in which a sling is connected to an irregular body according to an embodiment of the present invention.

[0044] Figure 3 The figure is a schematic diagram of the three-dimensional structure of the connection between the shackle and the tooling according to one embodiment of the present invention.

[0045] Figure 4 The figure is a flow chart of a simulation method according to an embodiment of the present invention.

[0046] Description of Reference Numerals

[0047] Irregular body 1

[0048] Pitch control cabinet 2

[0049] Driving 3

[0050] Sling 4

[0051] Hook 5

[0052] Shackle 6

[0053] Tooling 7 DETAILED DESCRIPTION

[0054] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0055] The whole machine assembly in the workshop and the hoisting process of wind turbine generator set installation in the wind farm include many hoisting processes of irregular bodies 1. How to truly display the hoisting process of the key component irregular body 1 is the key and difficult problem in the software application process.

[0056] This embodiment is based on Process Simulation (hereinafter referred to as PS) to simulate the entire process of wind turbine generator assembly in the workshop and wind farm installation. The purpose is to find out the design problems of new models, the feasibility of tooling 7, the accessibility of workshop assembly crane 3 equipment, the accessibility of workers, etc. in advance through the whole process simulation, so as to reduce the design and manufacturing problems of prototypes, shorten the time and reduce the cost.

[0057] Based on PS software, the present invention proposes a method for simulating the hoisting process of an irregular body 1 of a wind power equipment. Figure 1-3 As shown, the irregular body 1 is a pitch control cabinet 2. The irregular body 1 simulated by the pitch control cabinet 2 is lifted from the ground position to the air through the lifting ring, as shown in FIG. Figure 4 As shown, the following steps are included:

[0058] S1: construct irregular body 1 model and vehicle 3 model;

[0059] S2: Create an auxiliary rotating device and define the auxiliary rotating device as a motion mechanism;

[0060] S3: Position the auxiliary rotating device to the assembly position and connect it to the crane 3 and the irregular body 1;

[0061] S4: Drive auxiliary rotating equipment and crane 3, and then perform lifting analysis.

[0062] First, create the model of the simulated irregular body 1 and crane 3, then create the auxiliary rotating device, define the auxiliary rotating device as a motion mechanism, and then locate the auxiliary rotating device to the assembly position of the irregular body 1, connect the crane 3 and the irregular body 1 with the auxiliary rotating device, drive the auxiliary rotating device to rotate, and then simulate the rising process of the irregular body 1 in actual lifting, and complete the lifting analysis. Using this method for process simulation can improve the authenticity of the simulation, improve the effectiveness of the results, improve the R&D efficiency of the enterprise, reduce manufacturing costs, and shorten the product life cycle.

[0063] In a preferred embodiment, step S2 includes:

[0064] S21: Create a new device resource. In "Modeling", create a new Device resource and name it Sim_Revolution_Device (Auxiliary Rotation Device). Enter the modeling mode of Sim_Revolution_Device (Auxiliary Rotation Device). Use the "Create Coordinate System" command to create a coordinate named fr1; then, copy this coordinate and name it fr2. Use the "Curve-Create Polyline" command to create a straight line based on the distance between fr1 and fr2 and name it Polyline1;

[0065] S22: In the "Kinematics Device - Kinematics Editor", select the Polyline1 line as the fixed component to create lnk1 (kinematic link 1); then, select the fr1 coordinate to create lnk2 (kinematic link 2);

[0066] S23: Create joint j1 between lnk1 and lnk2, set the axis to the X direction, select rotation as the joint type, and set the restriction type information.

[0067] Through the above three steps S21, S22, and S23, the creation of the auxiliary rotation device and the kinematic pairs required for connection with the auxiliary rotation device are completed.

[0068] In a preferred embodiment, according to the actual length of the auxiliary rotating device, the fr1 coordinate is translated by 100 mm along the X-axis direction in a certain proportion in the model and named fr2.

[0069] In other preferred embodiments, the fr1 coordinate is translated along the X-axis direction by a distance greater than 50 mm, so that the translation distance in the model is proportional to the size of the straight line created later and the part connected to it, which is named fr2.

[0070] In a preferred embodiment, through the "Set Objects to Keep" command, polyline1 and fr1 are set as externally displayed objects so that they can be seen even in non-modeling mode; then, the modeling is ended so that the model required for simulation is displayed to facilitate post-simulation analysis.

[0071] In a preferred embodiment, step S3 includes:

[0072] S31: Use the "relocate" command to relocate the sling 4 to the shackle 6; then relocate the sling 4 and the shackle 6 together to the tooling 7;

[0073] S32: Use the “Reposition” command to select Sim_Revolution_Device (auxiliary rotation device) to reposition it to shackle 6.

[0074] When positioning the Sim_Revolution_Device (auxiliary rotation device) to the shackle 6, it is necessary to ensure that two positioning positions are completely coincident: ① The coincidence of the rotation axis (X axis) of the Sim_Revolution_Device (auxiliary rotation device) and the coordinate system (X axis) of the shackle 6 itself; ② The coincidence of the coordinate system (X axis) of the shackle 6 itself and the rotation axis of the lifting hole of the tooling 7. This indirectly ensures the coincidence of the rotation axis (X axis) of the Sim_Revolution_Device (auxiliary rotation device) and the rotation axis of the lifting hole of the tooling 7, which is the most critical step in the real simulation of the irregular body 1.

[0075] S33: Through the "Attach" command, attach the tooling 7 to link2 (motion link 2) in Sim_Revolution_Device (auxiliary rotation device); attach Sim_Revolution_Device (auxiliary rotation device) and sling (sling 4) to link11 (hook 5) of crane 3; attach the shackle 6 to the sling (sling 4).

[0076] The attachment relationship can also be set through the "offline programming command" command under the general operation of the robot. When setting the attachment relationship here, please note that you need to "remove" the previously preset attachment relationship;

[0077] S34 adds Sim_Revolution_Device (auxiliary rotation device) as the external axis of Crane 3 through the "Robot Properties-External Axis" command. Add the Ext1 external axis attribute column to the path editor through the "Customize Column" command, and you can observe the external axis values ​​set in the simulation of the crane 3 lifting process, and edit the values ​​in Ext1 to increase the convenience of operation.

[0078] Position the sling 4 and the shackle 6 on the tooling 7, select the auxiliary rotating device to be positioned on the shackle 6, connect the auxiliary rotating device and the sling 4 to the hook 5 of the crane 3, connect the shackle 6 to the sling 4, and then use the auxiliary rotating device as the external axis of the crane 3; through the above steps, the auxiliary rotating device is positioned at the assembly position of the irregular body 1 and linked to the crane 3 as the external axis, and the rotation axis of the auxiliary rotating device is coincident with the X axis of the coordinate system of the shackle 6 and the rotation axis of the tooling 7 and the hook 5, so as to ensure that the rotation axis of the auxiliary rotating device coincides with the rotation axis of the through hole of the tooling 7, and the sling 4 is sleeved on the hook 5, and the shackle 6 is passed through the through hole of the tooling 7 to fix the sling 4 in the hook 5, and the tooling 7 and the sling 4 are connected to each other through the shackle 6.

[0079] In a preferred embodiment, step S4 includes:

[0080] S41: Use the "New Operation - Create New General Robot Operation" command to select Crane 3, define the name and range, create a robot simulation operation, and add it to the path editor; use the "Operation - Add Current Position" command to create a new starting point for the simulation motion of Crane 3; then, add a point behind this point and relocate it to the lifting position;

[0081] S42: When crane 3 runs to the lifting position according to the simulation, first check whether the attachment relationship is as described in "2.2 Position Sim_Revolution_Device (auxiliary rotation device) to the assembly position and link it to crane 3 as an external axis step03 to set the attachment relationship" above. After the attachment relationship is satisfied, use the "Robot-Set External Axis Value" command, and in the pop-up dialog box, first select the Sim_Revolution_Device (auxiliary rotation device) added previously as the external axis of crane 3, then select "Approach Value" and set the value;

[0082] S43: Through the "Add position at the back" and "Set external axis value" commands, the process of lifting the tooling 7 by the crane 3 is simulated. The tooling 7 is shown to be constantly changing in shape due to its own gravity during the continuous lifting process, thus achieving the authenticity of the simulation.

[0083] By adding points, crane 3 is repositioned to the starting point as the starting point of the simulation, and then the external axis is set to confirm whether the auxiliary rotation equipment is in the assembly position. After confirmation, the auxiliary rotation equipment of the external axis of crane 3 is selected, and the rotation angle of the external axis is set to gradient to start simulating the lifting process.

[0084] In a preferred embodiment, in step S43, the external axis value set by the "set external axis value" command is essentially the angle of rotation of the irregular body 1 around the auxiliary rotation device. The more external axis values ​​are set, the more realistic the simulation results will be. That is, the simulation effect presented by the step values ​​of -5°, -10°, -15°, -20°, -25°, -30°... is better than the simulation effect presented by the step values ​​of -10°, -20°, -30°... Therefore, setting as many external axis values ​​as possible will help output a more realistic simulation effect.

[0085] Setting the external axis to -5° and setting a step every -5° can simulate various shapes of irregular lifting during the lifting process.

[0086] The above process simulates the process of lifting the variable pitch control cabinet 2 to the inside of the hub for installation. The variable pitch control cabinet 2 is an irregular body 1. The process of lifting it from the ground position to the air through the lifting ring will cause its shape to change continuously due to its own gravity, and the above method needs to be used for simulation. The variable pitch control cabinet 2 is installed on the bottom side of the hub. The installation process requires that it be lifted from the upper opening of the hub, then slowly dropped to the bottom, and finally completed with the assistance of external force by the operator. The entire process is carried out in a small and irregular space, and collisions and interferences are very likely to occur. The simulation results have very important warning significance for the early design and very important guiding significance for the subsequent actual installation.

[0087] In other embodiments, the actual lifting process of other irregular bodies of wind power equipment may also be simulated. For example, the irregular body may also be other large castings of wind power equipment, such as a tower of wind power equipment.

[0088] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A method for simulating the hoisting process of an irregular body of wind power equipment, characterized in that: The following steps are involved: S1: Construct irregular body model and driving model; S2: Create an auxiliary rotating device and define the auxiliary rotating device as a motion mechanism; S3: Positioning the auxiliary rotating device to the assembly position and connecting it to the crane and the irregular body; specifically including: S31: Positioning the sling and the shackle on the tooling, positioning the sling on the shackle; and then positioning the sling and the shackle on the tooling; S32: Positioning the auxiliary rotating device to the shackle; S33: Connecting the tool to the second kinematic link in the auxiliary rotating device; connecting the auxiliary rotating device and the sling to the hook of the crane, and connecting the shackle to the sling; S34: Using the auxiliary rotating device as the external shaft of the crane; wherein the rotation axis of the auxiliary rotating device coincides with the X-axis of the coordinate system of the shackle; the X-axis of the coordinate system of the shackle coincides with the rotation axis of the tooling and the hook; S4: Drive auxiliary rotating equipment and crane, and then perform lifting analysis.

2. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 1, characterized in that: Step S2 includes: S21: creating an auxiliary rotation device, creating a first coordinate, and creating a first straight line based on the first coordinate; S22: Select the first straight line as a fixed component to create a first kinematic link; then, select the first coordinate to create a second kinematic link; S23: Create a joint between the first motion link and the second motion link, set the axis to the X direction, and select the joint type to rotation.

3. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 2, characterized in that: The distance of the first straight line is greater than 50 mm.

4. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 2, wherein: The first straight line and the first coordinate are set to a display state, so that the first straight line and the first coordinate are displayed in a non-modeling mode.

5. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 1, characterized in that: The sling is sleeved on the hook and the shackle, the shackle passes through the through hole of the tooling, and the rotation axis of the shackle is parallel to the through hole.

6. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 1, characterized in that: Step S4 includes: S41: Select the crane and create a new starting point for the crane simulation motion; then, add a first point after the starting point and reposition it to the lifting position; S42: Setting the external axis. When the crane moves to the lifting position according to the simulation, first determine whether the connection relationship is as described above to assist the rotating device to the assembly position. If the connection relationship is satisfied, select the auxiliary rotating device of the external axis of the crane. S43: Setting a stepped external shaft to simulate the process of the crane lifting tooling.

7. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 6, characterized in that: In step S43, the starting angle of the external axis is set to -5°, and a step is set every -5°.

8. The method for simulating the hoisting process of an irregular body of wind power equipment according to claim 1, characterized in that: In step S1, the irregular body is a pitch control cabinet.

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