A wind turbine hub assembly line and assembly method

Abstract

The application discloses a wind turbine hub assembly production line and an assembly method, which comprises a truss manipulator, a first hub conveying line, a variable pitch bearing conveying line, a variable pitch bearing turnover machine, a fastener pre-tightening device, a fastener storage device, a second hub conveying line, a fastener stretching and fastening device and an accessory assembly device arranged in sequence along an assembly process flow; the truss manipulator places a hub to be assembled and a variable pitch bearing on the first hub conveying line and the variable pitch bearing conveying line respectively, and transports them to the two sides of the variable pitch bearing turnover machine through the conveying lines; the variable pitch bearing turnover machine grabs the bearing and pre-installs the bearing on the hub; the fastener pre-tightening device grabs the fastener and pre-installs the fastener on the hub; finally, the hub is conveyed through the second hub conveying line, and the fastener pre-installed on the hub is stretched and fastened through the fastener stretching and fastening device, so that high-automation, high-intelligence and high-efficiency wind turbine hub assembly production is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine hub assembly, and particularly relates to a wind turbine hub assembly production line and an assembly method. BACKGROUND

[0002] The hub is a core component of the wind turbine, and the hub assembly is a necessary process in the production process of the assembled wind turbine. The current hub assembly production line basically adopts a discrete operation mode mainly based on manual production operation, and usually adopts the mode of manual operation + crane or hoist lifting and transporting the hub and the variable pitch bearing, manual pre-assembly of fasteners, manual stretching / tightening of fasteners, and manual measurement and recording for assembly.

[0003] Although the existing method can produce and assemble the hub, many processes do not meet the requirements of lean production, and the entire assembly production line has low automation and intelligence, high labor intensity, low production efficiency, and low safety factor. Some processes such as measurement, transportation, stretching / tightening require multiple personnel to participate in completion, and the labor cost is too high. Small part assembly adopts manual operation, and the data traceability is poor. The wind turbine hub assembly production line needs to be further improved. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a wind turbine hub assembly production line and an assembly method. The entire assembly production line adopts intelligent assembly equipment combined with AGV transportation to realize high-efficiency wind turbine hub assembly production with high automation and high intelligence, meet the requirements of lean production, and reduce labor costs.

[0005] To achieve the above object, one or more embodiments of the present application provide the following technical solutions:

[0006] The first aspect of the present application provides a wind turbine hub assembly production line, comprising a truss manipulator, a first hub conveying line, a variable pitch bearing conveying line, a variable pitch bearing turnover machine, a fastener pre-tightening device, a fastener storage device, a second hub conveying line, a fastener stretching and tightening device, and an accessory assembly device arranged in sequence along the assembly process flow.

[0007] The truss manipulator comprises a steel structure support, a hub to be assembled and a variable pitch bearing are placed below the steel structure support, a first hub conveying line and a variable pitch bearing conveying line are arranged at two ends of the steel structure support respectively, the first hub conveying line and the variable pitch bearing conveying line are arranged in parallel, a variable pitch bearing turnover machine is arranged between the ends of the two conveying lines, the variable pitch bearing turnover machine comprises two parallel arranged turnover machine ground rails and a variable pitch bearing turnover main body arranged on the turnover machine ground rails, the turnover machine ground rails are perpendicular to the two conveying lines, a fastener pre-tightening device is arranged between the two turnover machine ground rails, and a fastener storage device is arranged outside the two turnover machine ground rails; the end of the first hub conveying line is connected with a second hub conveying line, and a fastener stretching and fastening device and an accessory assembling device are arranged on one side of the second hub conveying line in sequence.

[0008] Further technical solutions, the truss manipulator further comprises a longitudinal guide rail driving device, a longitudinal guide rail, a cross beam, a lifting mechanism, a cross beam driving device, a cross beam rail, a clamp and a first control cabinet;

[0009] The steel structure support is provided with a longitudinal guide rail and a plurality of cross beams perpendicular to the longitudinal guide rail, both ends of the plurality of cross beams are in sliding connection with the longitudinal guide rail, and a longitudinal guide rail driving device for driving the cross beams to move longitudinally along the longitudinal guide rail is arranged on the longitudinal guide rail; the cross beam is provided with a cross beam rail, the cross beam rail is provided with a lifting mechanism moving transversely along the rail, and the cross beam rail is further provided with a cross beam driving device for driving the lifting mechanism to move transversely along the cross beam rail; the bottom end of the lifting mechanism is fixedly installed with a clamp, and the lifting mechanism is provided with a lifting driving device for driving the clamp to move up and down.

[0010] Further technical solutions, the first hub conveying line is provided with a hub turntable, and the hub turntable comprises a first three-dimensional frame, a rotating disc, a positioning block, a driving rotating device and a second control cabinet;

[0011] The rotating disc is rotatably installed on the first three-dimensional frame, a plurality of positioning blocks are fixedly and symmetrically installed on the rotating disc, the driving rotating device and the second control cabinet are arranged on one side of the first three-dimensional frame, and the driving rotating device is electrically connected with the second control cabinet and the rotating disc.

[0012] Further technical solutions, the variable pitch bearing conveying line is provided with a bearing conveying frame, and the bearing conveying frame comprises a second three-dimensional frame, a platform and a bearing positioning block;

[0013] The platform is fixedly installed on the second three-dimensional frame, and a plurality of bearing positioning blocks are fixedly and symmetrically installed on the platform.

[0014] Further technical solutions, the variable pitch bearing turnover main body of the variable pitch bearing turnover machine comprises a lifting column, a lifting mechanism, a cross bar, a bearing grabbing mechanism, a counterweight device, a turnover machine ground rail and a third control cabinet.

[0015] The overturning machine ground rail is a rectangular frame structure, the upper plane of the ground rail is provided with a guide rail and a sliding block sliding along the guide rail, the sliding block is provided with a connecting plate, the connecting plate is connected with a lifting column, the lifting column is provided with a lifting mechanism, the lifting mechanism is provided with a lifting nut connecting plate, the ends of a cross bar are connected with the lifting nut connecting plate through rotary bearings, a bearing grabbing mechanism is slidingly installed on the cross bar, the bearing grabbing mechanism comprises a servo cylinder, a track, a motor and a speed reducer, a clamping cylinder, a rotary support, a claw hand and a scanning device provided with machine vision identification.

[0016] Further technical solutions, the fastener pre-tightening device comprises a pre-tightening tool, a first six-axis robot, a first robot base, a robot ground rail, a fourth control cabinet;

[0017] The robot ground rail is perpendicular to the overturning machine ground rail, and the first robot base is fixedly installed thereon, the first robot base is provided with the first six-axis robot, and the tail end of the first six-axis robot is provided with the pre-tightening tool;

[0018] The pre-tightening tool comprises a mounting base, the mounting base is fixedly provided with a quick-change disc, the quick-change disc is installed at the tail end of the first six-axis robot, and the mounting base is further provided with a first camera, a stud rotating driving device, a stud chuck, a nut tightening device, a nut chuck and a nut rotating driving device; the stud chuck and the nut chuck are used for clamping a to-be-installed stud and a to-be-installed nut respectively, the stud chuck and the nut chuck are electrically connected with the stud rotating driving device and the nut rotating driving device respectively, and the stud rotating driving device and the nut rotating driving device are used for driving the stud chuck and the nut chuck to rotate respectively; the nut tightening device is arranged between the stud rotating driving device and the nut rotating driving device, and comprises a speed reducer, a servo driving motor, a sensor, a spline shaft and a sleeve; the sleeve adopts a large-arc internal hexagonal structure, the sleeve is installed at the output end of the spline shaft, and the spline shaft is electrically connected with the speed reducer and the servo driving motor in sequence; the servo driving motor drives the speed reducer, the spline shaft and the sleeve to rotate together.

[0019] Further technical solutions, the fastener storage device comprises a placing frame, a nut positioning rod, a nut grabbing mechanism and a stud positioning device;

[0020] The nut positioning rod is arranged in the placing frame, and to-be-installed nuts are sequentially arranged through the nut positioning rod; the nut grabbing mechanism comprises a rotary table and a to-be-installed nut grabbing hand arranged on the rotary table; the stud positioning device is a stud placing rack provided with a plurality of placing clamping positions, and to-be-installed studs are respectively clamped vertically into the placing clamping positions.

[0021] Further technical solutions, the fastener stretching fastening device includes a second robot base, a second six-axis robot, a stretching fastening tool, a second robot control cabinet, a total control cabinet;

[0022] The second robot base is fixedly installed on the ground, and a second six-axis robot is arranged on the second robot base, and the tail end of the second six-axis robot is provided with a stretching fastening tool.

[0023] The stretching fastener body includes a nut driving device, a stretching mounting seat, a gear box, a pull rod driving device and a stretcher.

[0024] Further technical solutions, the accessory assembly device includes a vehicle body, a sleeve selector, a display screen, an alarm lamp, a monitoring and alarm device, an assembly tool, a punch card device, a drawer and a caster.

[0025] The second aspect of the application provides a wind turbine hub assembly method, which is realized based on a wind turbine hub assembly production line and includes the following steps:

[0026] The clamps in the truss manipulator are moved forward, backward, left, right, up and down to respectively hoist and carry the hub to be assembled and the variable pitch bearing placed in the steel structure support to the hub turntable of the first hub conveying line and the bearing conveying frame of the variable pitch bearing conveying line, and the hub turntable on which the hub to be assembled is placed and the bearing conveying frame on which the variable pitch bearing is placed are transported to the two sides of the variable pitch bearing turnover machine through the conveying lines.

[0027] The first variable pitch bearing is installed on the first bearing mounting surface of the to-be-mounted hub by rotating the hub rotating table, repeating the above actions, and completing the pre-installation of the second and third variable pitch bearings.

[0028] The first variable pitch bearing is installed on the first bearing mounting surface of the to-be-mounted hub by rotating the hub rotating table, repeating the above actions, and completing the pre-installation of the second and third variable pitch bearings.

[0029] The first variable pitch bearing is installed on the first bearing mounting surface of the to-be-mounted hub by rotating the hub rotating table, repeating the above actions, and completing the pre-installation of the second and third variable pitch bearings.

[0030] The above one or more technical solutions have the following beneficial effects:

[0031] (1) The wind turbine hub assembly production line and assembly method provided by the application realizes high-efficiency wind turbine hub assembly production with high automation and high intelligence, meets the requirements of lean production, and reduces labor costs.

[0032] (2) The truss manipulator, AGV, variable pitch bearing turnover machine, hub rotating table, six-axis robot, variable pitch bearing, and hub conveying are provided, the material turnover efficiency is improved, the material conveying is automated and unmanned, the bearing posture is automatically adjusted and moved by the full-automatic variable pitch bearing turnover machine, the phase rotation of the three bearing surfaces of the hub is realized by the hub rotating table, the linkage of the full-automatic variable pitch bearing turnover machine and the robot is realized, the assembly quality of the variable pitch bearing is improved, the product press-fitting qualification rate can reach more than 99%, the repair rate is reduced, the production efficiency is improved, and the production cost is saved.

[0033] (3) The whole production line adopts industrial computer integrated control, can guarantee efficient assembly of the variable pitch bearing to the maximum extent, enables the equipment of each station to operate stably and guarantees low failure rate, and is simple, convenient, safe and reliable in operation, and is suitable for assembly of multi-variety and large-batch wind power hub products. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated herein by reference. The embodiments illustrated in the drawings are shown by way of example and not limitation.

[0035] Figure 1 A structure schematic view of the wind generating set hub assembly production line according to the embodiment of the present application;

[0036] Figure 2 A front view of the wind generating set hub assembly production line according to the embodiment of the present application;

[0037] Figure 3 A top view of the wind generating set hub assembly production line according to the embodiment of the present application;

[0038] Figure 4 A left view of the wind generating set hub assembly production line according to the embodiment of the present application;

[0039] Figure 5 A shaft side view of the truss mechanical hand according to the embodiment of the present application;

[0040] Figure 6 A shaft side view of the hub rotary table according to the embodiment of the present application;

[0041] Figure 7 A shaft side view of the bearing conveying frame according to the embodiment of the present application;

[0042] Figure 8 A shaft side view of the variable pitch bearing turnover machine according to the embodiment of the present application;

[0043] Figure 9 A shaft side view of the fastener pre-tightening device according to the embodiment of the present application;

[0044] Figure 10 A shaft side view of the pre-tightening tooling according to the embodiment of the present application;

[0045] Figure 11 A shaft side view of the fastener storage device according to the embodiment of the present application;

[0046] Figure 12 A shaft side view of the stretch fastening device according to the embodiment of the present application;

[0047] Figure 13 A shaft side view of the stretch fastening tooling according to the embodiment of the present application;

[0048] Figure 14 The axial side view of the stretcher body in the embodiment of the application;

[0049] Figure 15 The axial side view of the accessory assembly device in the embodiment of the application;

[0050] Figure 16 The control schematic diagram of the intelligent assembly system in the embodiment of the application.

[0051] Wherein, X represents the device, equipment or component, and B represents the AGV trolley;

[0052] X0, truss manipulator, X01, steel structure support, X02, longitudinal guide rail driving device, X03, longitudinal guide rail, X04, lifting mechanism, X05, cross beam driving device, X06, cross beam rail, X07, clamp, X08, first control cabinet;

[0053] X1, hub turntable, X11, first three-dimensional frame, X12, turntable, X13, positioning block, X14, driving rotating device, X15, second control cabinet;

[0054] X2, bearing conveying frame, X21, second three-dimensional frame, X22, platform, X23, bearing positioning block;

[0055] X3, pitch bearing turnover machine, X31, lifting column, X32, lifting mechanism, X33, cross rod, X34, bearing grabbing mechanism, X35, hub to be assembled, X36, counterweight device, X37, pitch bearing to be assembled, X38, safety guard net, X39, turnover machine ground rail, X310, third control cabinet;

[0056] X4, fastener pre-tightening device, X41, pre-tightening tooling, X42, first six-axis robot, X43, first robot base, X44, robot ground rail, X45, fourth control cabinet; X411, mounting base, X412, quick-change disc, X413, first camera, X414, stud rotating driving device, X415, stud chuck, X416, stud to be assembled, X417, nut tightening device, X418, nut to be assembled, X419, nut chuck, X4110, nut rotating driving device;

[0057] X5, fastener storage device, X51, placement frame, X52, nut positioning rod, X53, nut grabbing mechanism, X54, stud positioning device;

[0058] X6, fastener stretching fastening device, X61, second robot base, X62, second six-axis robot, X63, stretching fastening tool, X64, second robot control cabinet, X65, general control cabinet; X631, mounting seat, X632, second camera, X633, stretcher body, X634, anti-loose wire coating device; X6331, nut driving device, X6332, stretching mounting seat, X6333, gear box, X6334, pull rod driving device; X6335, stretcher;

[0059] X7, accessory assembly device, X71, vehicle body, X72, sleeve selector, X73, display screen, X74, alarm lamp, X75, monitoring and alarm device, X76, assembly tool, X77, card punch, X78, drawer, X79, castor;

[0060] B1, first AGV, B2, second AGV. DETAILED DESCRIPTION

[0061] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0062] It should be noted that the terms used herein are merely for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should be further understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of a feature, step, operation, device, component, and / or combinations thereof.

[0063] Embodiment one

[0064] The embodiment proposes a wind turbine hub assembly production line, which adopts intelligent assembly equipment and combines AGV transportation to realize efficient assembly production with high automation and high intelligence, meet the requirements of lean production, reduce labor costs, and have high practical value. The wind turbine hub assembly production line proposed in the embodiment is shown in Figure 1 Figures 2-4 ​For the main view, top view and left view of the assembly production line, the assembly production line includes a hub and variable pitch bearing storage area, a hub and variable pitch bearing distribution area, a variable pitch bearing mounting area, a fastener pre-assembly area, a fastener tightening area and an accessory assembly area. Among them, the hub and variable pitch bearing storage area and the variable pitch bearing mounting area, the fastener tightening area and the accessory assembly area arranged in parallel in the shape of "one" are arranged in sequence along the assembly process flow. The hub and variable pitch bearing storage area is arranged in parallel with the variable pitch bearing mounting area, and a hub and variable pitch bearing distribution area is arranged between the two areas. The variable pitch bearing mounting area is provided with a fastener pre-assembly area.

[0065] The hub and variable pitch bearing storage area includes a truss manipulator X0, the hub and variable pitch bearing distribution area includes a hub turntable X1, a bearing conveying frame X2, and AGV cars B2 and B1 for transporting the hub turntable X1 and the bearing conveying frame X2 respectively, the truss manipulator X0 is used to place the hub and variable pitch bearing to be assembled on the hub turntable X1 and the bearing conveying frame X2 respectively, and the AGV cars B2 and B1 transport the placed hub turntable X1 and the bearing conveying frame X2 to the variable pitch bearing mounting area respectively; the variable pitch bearing mounting area includes a variable pitch bearing turnover machine, which is used to grab the bearing on the bearing conveying frame X2 and pre-mount the bearing on the hub on the hub turntable X1; the fastener pre-assembly area includes a fastener pre-tightening device and a fastener storage device, the fastener storage device is used to place fasteners including nuts and screws, etc., and the fastener pre-tightening device is used to grab the fasteners and pre-mount the fasteners on the hub; the fastener tightening area includes a fastener stretching and fastening device for stretching and fastening the pre-mounted fasteners on the hub; and the accessory assembly area includes an assembly device for assembling hub accessories.

[0066] That is, the wind power hub assembly production line of the embodiment is sequentially provided with a truss manipulator X0 for hub feeding, a hub turntable X1 for placing and fixing the hub to be assembled, a bearing conveying frame X2 for placing and fixing the variable pitch bearing, a first hub conveying line and a variable pitch bearing conveying line (in this embodiment, the conveying line is realized by AGV cars B2 and B1) for transporting the hub turntable and the bearing conveying frame, a variable pitch bearing turnover machine X3 for grabbing and mounting the variable pitch bearing, a fastener pre-tightening device X4 for fastener pre-tightening, a fastener storage device X5 for storing fasteners, a second hub conveying line for transporting the hub turntable, a fastener stretching and fastening device X6 for stretching and fastening the fasteners, and an accessory assembly device X7 for assembling other accessories.

[0067] As Figure 5As shown, the truss manipulator X0 includes a steel structure support X01, a longitudinal guide rail driving device X02, a longitudinal guide rail X03, a lifting mechanism X04, a cross beam driving device X05, a cross beam rail X06, a clamp X07 and a first control cabinet X08, wherein the longitudinal guide rail X02 and the cross beam rail X06 are perpendicular.

[0068] Further, the truss manipulator X0 includes a steel structure support X01 arranged at the storage area of the hub and the variable pitch bearing to be assembled, and the hub and the variable pitch bearing to be assembled are placed below the steel structure support. The steel structure support is provided with the longitudinal guide rail X03 and a plurality of cross beams perpendicular to the longitudinal guide rail X03. The two ends of the longitudinal guide rail X03 are connected with the truss column to realize support through the truss. The two ends of the plurality of cross beams are slidably connected with the longitudinal guide rail X03. The cross beam is driven by the longitudinal guide rail driving device X02 arranged on the longitudinal guide rail X03 to realize longitudinal movement of the cross beam along the longitudinal guide rail X03.

[0069] As a preferred embodiment, the steel structure support is provided with two longitudinal guide rails, i.e. a first longitudinal guide rail and a second longitudinal guide rail, which are arranged in parallel. The two ends of the cross beam are slidably connected with the first longitudinal guide rail and the second longitudinal guide rail, respectively. The longitudinal guide rail is provided with a guide rail driving device arranged in the form of a chain driving structure, which specifically includes a chain, a rotating shaft and a motor. The chain and the rotating shaft cooperate with each other. The rotating shaft is driven to rotate by the motor, thereby driving the chain to move longitudinally along the longitudinal guide rail.

[0070] The cross beam is provided with a rail, i.e. a cross beam rail X06, which is provided with a lifting mechanism X04 capable of moving transversely along the rail. The cross beam rail X06 is further provided with a cross beam driving device X05. The lifting mechanism X04 is driven by the cross beam driving device X05 to move transversely along the cross beam rail X06. Similarly, the cross beam driving device of the present embodiment also adopts a chain driving structure.

[0071] The bottom end of the lifting mechanism X04 is fixedly installed with a clamp X07, and the clamp X07 moves up and down through a lifting driving device provided on the lifting mechanism X04. The lifting driving device specifically includes a motor, a connecting sleeve, a key, and a screw lifting pair. In this embodiment, the lifting driving device also adopts a gear rack or chain driving structure. The truss manipulator X0 further includes a first control cabinet X08 electrically connected with the longitudinal guide rail driving device X02, the cross beam driving device X05, and the lifting driving device, and is used for controlling the operation of the longitudinal guide rail driving device X02, the cross beam driving device X05, and the lifting driving device. Through the above setting, according to the position of the to-be-assembled hub, the up-down, left-right, and front-back positions of the clamp X07 are adjusted by the truss manipulator X0, the to-be-assembled hub is lifted and stably placed on the hub turntable X1 through movement, and the variable pitch bearing is lifted and stably placed on the bearing conveying frame X2 through movement.

[0072] Through the above truss manipulator X0, the hub and the variable pitch bearing are automatically fed onto the hub turntable X1 and the bearing conveying frame X2.

[0073] As shown in Figure 6 The first hub conveying line is provided with a hub turntable X1 for placing and fixing a to-be-assembled hub. The hub turntable X1 can rotate the to-be-assembled hub placed thereon by 360°, and the rotation speed is adjustable. The hub turntable X1 cooperates with the variable pitch bearing turnover machine X3 to realize pre-installation of the variable pitch bearing on the to-be-assembled hub. The hub turntable includes a first three-dimensional frame X11, a turntable X12, a positioning block X13, a driving rotation device X14, and a control cabinet X15. The turntable X12 is rotatably installed on the first three-dimensional frame X11. The turntable X12 is provided with a plurality of positioning blocks X13 for fixing the to-be-assembled hub. The first three-dimensional frame X11 is provided with the driving rotation device X14 and the second control cabinet X15 on one side. The driving rotation device X14 is electrically connected with the second control cabinet X15 and the turntable X12. The second control cabinet X15 controls and drives the driving rotation device X14 to operate, and in turn drives the turntable X12 to rotate.

[0074] Further, the hub turntable X1 further includes a charging device for providing electric energy for the driving rotation device to realize automatic charging and facilitate use.

[0075] As shown in Figure 7As shown, the variable pitch bearing conveying line is provided with a bearing conveying frame X2 for placing and fixing the variable pitch bearing, realizing accurate positioning of the variable pitch bearing, cooperating with the variable pitch bearing turnover machine X3 to realize pre-installation of the variable pitch bearing on the hub to be assembled. The bearing conveying frame X2 comprises a second stereoscopic frame X21, a platform X22 and a bearing positioning block X23. The second stereoscopic frame X21 is fixedly provided with the platform X22, and the platform X22 is provided with the bearing positioning block X23 for fixedly placing the variable pitch bearing.

[0076] The first hub conveying line and the variable pitch bearing conveying line are arranged in parallel, and a variable pitch bearing turnover machine is arranged between the ends of the two conveying lines. Figure 8 As shown, the variable pitch bearing turnover machine X3 is used for pre-installation of the variable pitch bearing, and can realize automatic positioning, automatic grabbing, automatic moving, automatic phase alignment and automatic installation of the variable pitch bearing. The variable pitch bearing turnover machine X3 is used in cooperation with the hub turntable X1 to realize compensation of the offset angle of the hub to be assembled. The variable pitch bearing turnover machine X3 comprises two parallel arranged turnover machine ground rails X39 and a variable pitch bearing turnover main body arranged on the turnover machine ground rail X39. The turnover machine ground rail X39 is perpendicular to the first hub conveying line and the variable pitch bearing conveying line. The variable pitch bearing turnover main body specifically comprises a lifting column X31, a lifting mechanism X32, a cross bar X33, a bearing grabbing mechanism X34, a counterweight device X36 and a third control cabinet X310.

[0077] Furthermore, the tilting machine ground rail X39 has a rectangular frame structure, with several reinforcing beams installed within the rectangular frame. The spacing of the reinforcing beams can be determined by strength calculation based on the load size. One reinforcing beam is installed on each side of the tilting machine ground rail. The upper surface of the ground rail is equipped with a guide rail and a slider that slides along the guide rail. A connecting plate is installed on the slider, and the connecting plate is connected to the lifting column X31. After the ground rail is leveled by a leveling device, the tilting machine ground rail X39 is fixed with chemical anchors or expansion bolts. The lifting column X31 also has a rectangular frame structure, with several reinforcing beams installed within the rectangular frame. The spacing of the reinforcing beams can be determined by strength calculation based on the load size. The lifting column X31 matches the tilting machine ground rail X39, with one on each side. Since the lifting column X31 is installed on the guide rail of the tilting machine ground rail via the connecting plate and slider, the movement of the slider allows the lifting column X31 to move on the tilting machine ground rail X39. The lifting column X31 is equipped with a lifting mechanism X32, and the lifting mechanism X32 is equipped with a lifting nut connecting plate. The two ends of the crossbar X33 are connected to the lifting nut connecting plate via rotary bearings. The lifting mechanism X32 includes a screw pair, a track, a motor, and a reducer (not shown in the figure). In this embodiment, the lifting mechanism can be a bucket elevator, a vertical elevator, a floor-mounted elevator, a hydraulic elevator, a multi-functional elevator, or a tower elevator, thereby enabling the crossbar X33 to move up and down along the lifting column, i.e., to move the crossbar X33 in the height direction. Furthermore, the lifting mechanism X32 is also equipped with a counterweight device X36. The counterweight device X36 is used to reduce the load on the motor in the lifting mechanism X32 and also serves a safety protection function. The counterweight can be implemented using various methods such as a nitrogen balance cylinder system, mechanical counterweight, pneumatic cylinder counterweight, or hydraulic cylinder counterweight.

[0078] The crossbar X33 is a rectangular frame structure on which the bearing gripping mechanism X34 is slidably mounted. Specifically, the crossbar X33 is equipped with a helical pair, a track, a motor, and a reducer (not shown in the figure), enabling the bearing gripping mechanism X34 to move left and right along the crossbar, i.e., to move the bearing gripping mechanism X34 in the horizontal direction. The bearing gripping mechanism X34 includes a servo electric cylinder, a track, a motor and reducer, a clamping cylinder, a slewing support, a gripper, and a scanning device equipped with machine vision recognition (not shown in the figure), etc., to realize the positioning, clamping, gripping, and phase adjustment of the pitch bearing during installation. The aforementioned machine vision recognition is used for phase alignment and correction. It can perform corresponding bearing phase recognition based on information obtained from cameras, video cameras, infrared scanning devices, etc., and automatically adjust the gripping position based on this recognition to realize automatic gripping, lifting, flipping, lateral movement, alignment, and installation of the pitch bearing. The entire process does not require human control, realizing an unmanned installation mode for pitch bearings. Furthermore, the application of this tilting machine is not limited to the field of wind power generation, but can also be extended to heavy industries such as shipbuilding, metallurgy, and aerospace, replacing the previous overhead crane + manual operation mode.

[0079] In addition, the above-mentioned pitch bearing turnover machine X3 further comprises a safety fence X38 arranged around the various devices or equipment inside the pitch bearing turnover machine X3 to ensure personnel safety.

[0080] Further, the bearing grabbing mechanism X34 of the above-mentioned pitch bearing turnover machine X3 is further provided with a scanning device such as a camera, infrared, etc., for identifying the position of the pitch bearing to be grabbed and the position to be installed through machine vision recognition.

[0081] The fastener pre-assembly area is located inside the pitch bearing installation area. Specifically, the second AGV B2 transports the hub turntable X1 to the left side of the pitch bearing turnover machine X3 in the pitch bearing installation area, and the first AGV transports the bearing conveying frame X2 to the right side of the pitch bearing turnover machine X3 in the pitch bearing installation area, and places the bearing conveying frame X2 between the turnover machine ground rails X39 of the pitch bearing turnover machine X3, facilitating the movement of the subsequent lifting column X31 on the turnover machine ground rails X39, and grabbing the pitch bearing placed on the bearing conveying frame X2 through the lifting mechanism X32. A fastener pre-assembly area is arranged between the pitch bearing turnover main body of the pitch bearing turnover machine X3 and the bearing conveying frame X2, and between the above-mentioned two turnover machine ground rails, and the fastener pre-assembly area comprises a fastener pre-tightening device X4.

[0082] The fastener pre-tightening device X4 is used for grabbing and pre-tightening of the fastener, realizing unmanned operation. In the present embodiment, the fastener comprises a double-headed stud and a hexagonal nut, as shown in Figure 9 The fastener pre-tightening device X4 comprises a pre-tightening tool X41, a first six-axis robot X42, a first robot base X43, a robot ground rail X44, and a fourth control cabinet X45.

[0083] The robot ground rail X44 is arranged perpendicular to the turnover machine ground rail X39 and can move in the vertical direction. The first robot base X43 is fixedly installed on the robot ground rail X44. The first six-axis robot X42 is arranged on the first robot base X43 and can rotate flexibly. The pre-tightening tool X41 is arranged at the end of the first six-axis robot X42 and is used for automatic grabbing and pre-tightening of the bolt, nut, and stud (i.e., the fastener).

[0084] As another embodiment, two fastener pre-tightening devices X4 are arranged in the present embodiment. One fastener pre-tightening device X4 is arranged as described above, and the other fastener pre-tightening device X4 is directly fixedly installed on the ground without the robot ground rail X44. The remaining structures are the same. By arranging two fastener pre-tightening devices X4, the efficiency of fastener pre-tightening is further improved.

[0085] AsFigure 10 As shown, the pre-tightening fixture X41 includes a mounting base X411, a quick-change disc X412, a first camera X413, a stud rotation drive device X414, a stud chuck X415, a nut tightening device X417, a nut chuck X419, and a nut rotation drive device X4110.

[0086] A quick-change disc X412 is fixedly mounted on the mounting base X411. The pre-tightening fixture X41 is installed at the end of the first six-axis robot X42 via the quick-change disc X412. The quick-change disc X412 allows for rapid switching between fixtures of different models without interruption of power, air, or hydraulic systems. The mounting base X411 is equipped with a first camera X413, a stud rotation drive device X414, a stud chuck X415, a nut tightening device X417, a nut chuck X419, and a nut rotation drive device X4110. 。

[0087] The stud chuck X415 and nut chuck X419 are used to clamp the stud X416 and nut X418 to be installed, respectively. The chuck can be a pneumatic chuck, an electric chuck, a hydraulic chuck, etc. The stud chuck X415 and the nut chuck X419 are electrically connected to the stud rotation drive device X414 and the nut rotation drive device X4110, respectively. The stud rotation drive device X414 and the nut rotation drive device X4110 are used to drive the stud chuck X415 and the nut chuck X419 to rotate, so that the stud X416 and the nut X418 to be installed, clamped on the stud chuck X415 and the nut chuck X419, are pre-installed into the bearing's installation position.

[0088] Furthermore, the nut tightening device X417 is disposed between the stud rotation drive device and the nut rotation drive device, and is used to tighten the nut X418 to be installed again. This device specifically includes a reducer, a servo drive motor, a sensor, a splined shaft, and a sleeve. Figure 10 (Not shown in the image) The sleeve is installed at the output end of the spline shaft. The sleeve adopts a large arc-shaped internal hexagonal structure. The size of the internal hexagon matches the hexagon of the X418 nut to be installed. The spline shaft is electrically connected to the reducer and the servo drive motor in sequence. The servo drive motor drives the reducer, the spline shaft and the sleeve to rotate together. The sleeve and the hexagonal nut that extends into the sleeve and engages with the sleeve begin to engage and tighten.

[0089] The first camera X413 is arranged above the nut tightening device X417, the chip with machine vision recognition is arranged in the camera X413, the installation position of the fastener such as nut and stud can be automatically positioned according to the collected bearing image information, the installation position is fed back to the fourth control cabinet X45 in the fastener pre-tightening device X4, the fourth control cabinet X45 controls the first six-axis robot X42 to move, so that the pre-tightening tool X41 on the first six-axis robot X42 can move to the installation position.

[0090] In addition, the fastener storage device X5 is arranged outside the two ground rails of the turnover machine, that is, the fastener pre-assembly area also includes the fastener storage device X5, the fastener storage device X5 is arranged on both sides of the safety guard net X38 arranged at the ground rail of the turnover machine, as shown in Figure 11 The fastener storage device X5 is used for orderly storing the to-be-installed nut and the to-be-installed stud, in the embodiment, the double-headed stud and the hexagonal nut are selected, the fastener storage device X5 includes a placing frame X51, a nut positioning rod X52, a nut grabbing mechanism X53 and a stud positioning device X54. The nut positioning rod X52 is arranged in the placing frame X51, the to-be-installed nut is sequentially arranged through the nut positioning rod X52, so as to fix the to-be-installed nut; the nut grabbing mechanism X53 includes a rotating table and a to-be-installed nut gripper arranged on the rotating table, which is used for grabbing the to-be-installed nut on the nut positioning rod X52, taking out the to-be-installed nut, and facilitating the nut chuck X419 to grab the to-be-installed nut; the stud positioning device X54 is a stud placing rack with multiple placing clamps, the to-be-installed stud is vertically clamped into the placing clamp, and the stud chuck X415 is facilitated to grab the to-be-installed stud.

[0091] In addition, the fastener storage device X5 is also provided with a tray position detection switch (not shown in the figure), whether the to-be-installed nut and the stud are placed in place is judged by detecting the nut positioning rod X52 and the stud positioning device X54.

[0092] Through the above arrangement, the first six-axis robot X42 grabs the to-be-installed nut and the to-be-installed stud in the fastener storage device X5 through the pre-tightening tool X41, then the first six-axis robot X42 moves and rotates to the fastener assembly position in cooperation with the robot ground rail X44, the installation position of the fastener such as nut and stud is automatically positioned by collecting bearing image information through the camera X413, the double-headed stud is pre-assembled through the stud chuck X415 and the stud rotating driving device X414 according to the process requirement, then the nut is pre-tightened for 2-3 turns through the nut chuck X419 and the nut rotating driving device X4110, then the nut chuck exits, the first six-axis robot X42 rotates by a certain angle, then the hexagonal nut is tightened again through the nut tightening device X417, and the first six-axis robot X42 exits.

[0093] The end of the first hub conveying line is connected with a second hub conveying line, one side of the second hub conveying line is sequentially provided with a fastener stretching fastening device and an accessory assembling device, as shown in Figure 12 The fastener stretching fastening device X6 is used for re-stretching fastening of the stud to be installed, and the device comprises a second robot base X61, a second six-axis robot X62, a stretching fastening tool X63, a second robot control cabinet X64 and a general control cabinet X65.

[0094] The second robot base X61 is fixedly installed on the ground and is provided with the second six-axis robot X62, which can rotate flexibly. The end of the second six-axis robot X62 is provided with the stretching fastening tool X63, which is used for rope stretching fastening of the bolt, nut and stud (i.e. fastener).

[0095] As another embodiment, two fastener stretching fastening devices X6 are provided in the embodiment, one of which is provided as above, and the other fastener stretching fastening device X6 has the same structure, and is electrically connected with the general control cabinet X65 through the respective second robot control cabinet X64. By providing two fastener stretching fastening devices X6, the efficiency of re-stretching fastening of the fastener is further improved, and the assembly efficiency is improved.

[0096] The stretching fastening tool X63 is used for phase alignment and stretching fastening of the stud, as shown in Figure 13 The stretching fastening tool X63 is fixedly installed at the end of the second six-axis robot X62 through the mounting seat X631. The camera X632 provided on the stretching fastening tool X63 is provided with a chip with machine vision recognition, which can automatically position the stretching fastening position according to the collected bearing image information. The mounting position is fed back to the second robot control cabinet X64 in the fastener stretching fastening device X6, and the second robot control cabinet X64 controls the rotation of the second six-axis robot X62, so that the stretching fastening tool X63 thereon can be moved to the stretching fastening position.

[0097] The stretcher body X633 comprises a nut driving device X6331, a stretching mounting seat X6332, a gear box X6333, a pull rod driving device X6334 and a stretcher X6335, as shown in Figure 14 The stretcher body X633 is fixedly installed on the stretching fastening tool X63 through the stretching mounting seat X6332. The stretcher X6335 comprises a threaded pull rod, a piston, a spring, a housing, a gear tooth and a sleeve, and the inner wall of the sleeve is provided with a clamping position for matching with the nut to be installed.

[0098] One side of the stretcher X6335 is provided with a nut driving device X6331, which includes a connecting sleeve, a motor, a speed reducer, a spline shaft and a gear tooth arranged in the connecting sleeve. The spline shaft is fixedly connected with the gear tooth through the gear tooth. The motor is electrically connected with the spline shaft through the speed reducer to drive the spline shaft to rotate, thereby driving the gear tooth to rotate. The gear tooth is matched with the nut to be installed, and the nut is locked by rotating the nut. The other side of the stretcher X6335 is connected with a pull rod driving device X6334 through a gear box X6333. The gear box X6333 includes a gear, a box body and a box cover. The gear is arranged in the box body and the box cover. An inner spline or a key groove is arranged on the central shaft of the gear to facilitate connection with the pull rod driving device X6334. One end of the gear box X6333 is installed on the mounting seat X631 of the stretching and fastening tool X63 through a mounting seat X632, and the other end is connected with the pull rod driving device X6334. The pull rod driving device X6334 includes a connecting sleeve, a motor, a speed reducer and a spline shaft arranged in the connecting sleeve. The spline shaft is fixedly connected with the gear of the gear box X6333. The motor drives the spline shaft to drive the gear box X6333 to rotate the threaded pull rod of the stretcher X6335, so as to realize locking and stretching of the stud.

[0099] The stretcher X6335 cooperates with the nut driving device X6331 and the pull rod driving device X6334. After the stud of the pre-installed nut is inserted into the sleeve of the stretcher X6335, the nut is clamped by the nut driving device X6331, and the stud is rotated by the pull rod driving device X6334 to be screwed with the sleeve of the stretcher X6335. The stretcher X6335 stretches and presses the stud. After stretching and pressing, the nut driving device X6331 and the pull rod driving device X6334 are automatically reversed to realize stretching and fastening of the nut and the stud, and to avoid loosening.

[0100] The nut driving device X6331 and the pull rod driving device X6334 adopt modular design and can be matched with different specifications of stretchers such as M30, M36, M42, M48 and M62. The rotation of the nut and the screwing length of the stud can be accurately controlled by a servo motor.

[0101] That is, the second six-axis robot X62 is provided with a stretching fastening tool X63, which is used to determine the stud phase through machine vision recognition. The second six-axis robot X62 moves forward along the stud center until it contacts the stretcher body X633. At this time, the nut driving device X6331 rotates by a certain angle to clamp the pre-installed hexagonal nut in the sleeve of the stretcher body X63, while the pull rod driving device X6334 rotates the stud to screw it into the sleeve of the stretcher X6335. After detecting that it is screwed in place, the rotation is automatically stopped. Then the stretcher body X63 starts to press and stretch the stud according to the stretching process requirements. After the stretching is qualified, the nut driving device X6331 and the pull rod driving device X6334 are automatically reversed to realize the stretching and fastening of the nut and the stud. Finally, the stretching fastening tool X63 exits from the hexagonal bolt and the stud, and the anti-loose wire coating device X634 starts to coat the anti-loose wire.

[0102] The above fastener stretching and fastening device X6 realizes phase recognition and final stretching and fastening of the stud, which meets the process requirements and realizes unmanned operation. Further, a safety protection net is provided around the fastener stretching and fastening device X6 to ensure personnel safety.

[0103] As shown in Figure 15 The accessory assembly device X7 is used to complete the installation of accessories such as fairing, limit switch, proximity switch, etc. The assembly information is automatically uploaded to the intelligent assembly system to realize data traceability. The device includes a vehicle body X71, a sleeve selector X72, a display screen X73, an alarm lamp X74, a monitoring and alarm device X75, an assembly tool X76, a punch card X77, a drawer X78, and a caster X79. In this embodiment, the monitoring and alarm device X75 has the functions of face recognition and smoke detection to realize monitoring and alarm of the staff and working environment; the assembly tool X76 includes a digital display torque wrench, a wireless measuring tool, a multimeter, etc.

[0104] The controllers or control cabinets of the devices in each assembly area are electrically connected to form an intelligent assembly system. The architecture of the intelligent assembly system is as shown in Figure 16As shown, the system device selects a mainstream fieldbus system such as Profinet, Profibus, etc., all devices are suggested to use the same fieldbus, and the system software (i.e. data collection control system, central control system) accesses the factory informatization network system, can be based on OPC UA for secondary development, and realizes communication and data exchange with application servers such as HMIS, MES, ERP, etc. through an industrial Ethernet interface. Specifically, the line-level central control operation system realizes system integration with the upstream MES, ERP information system, realizes timely and effective transmission of information, undertakes production work order information transmitted by the upstream information system, distributes the work content to each work station, can upload actual work data to the upstream information system in a timely manner, and can feedback quality inspection information and transmit production abnormality related information.

[0105] Embodiment Two

[0106] The embodiment provides a wind turbine hub assembly method, which realizes high-automation, high-intelligence and high-efficiency assembly production of the wind turbine hub on the basis of the wind turbine hub assembly production line disclosed in Embodiment One.

[0107] A wind turbine hub assembly method, comprising the following steps:

[0108] Step One: the clamps X07 in the front-back, left-right and up-down moving truss mechanical hands X0 are used to respectively hoist and transport the wind turbine hub and the variable pitch bearing placed below the steel structure support X01 to the wind turbine hub turntable X1 of the first wind turbine hub conveying line and the bearing conveying frame X2 of the variable pitch bearing conveying line.

[0109] Step Two: the wind turbine hub turntable X1 on which the wind turbine hub to be assembled is placed and the bearing conveying frame X2 on which the variable pitch bearing is placed are transported to the two sides of the variable pitch bearing turnover machine through the conveying lines.

[0110] In the embodiment, the AGV trolleys B2 and B1 are respectively automatically moved to the positions directly below the corresponding wind turbine hub turntable X1 and bearing conveying frame X2 according to the instructions issued by the intelligent assembly system, and the wind turbine hub and the variable pitch bearing to be assembled are transported to the variable pitch bearing installation area.

[0111] Step three, confirm the model of the hub and pitch bearing to be assembled through the scanning device on the pitch bearing turnover machine, and feed back the confirmation information to the central control system. The waiting signal of the hub and pitch bearing is turned on. The AGV car delivers the fastener to the fastener storage device on both sides of the pitch bearing turnover machine. The material is detected to be in place, and the material in place signal is turned on. The material information is fed back to the central control system. In this embodiment, the AGV car uses magnetic stripe navigation and has wireless charging function. The rated load of each AGV car is 120t. Each time, 3 pitch bearings and a hub to be assembled (including a hub turntable and a bearing conveying frame) are transported respectively. The AGV car has lifting function and the lifting height matches the grabbing height of the truss manipulator.

[0112] Step four, the first pitch bearing to be installed is grabbed by the pitch bearing turnover machine, and the pitch bearing is moved to the first bearing mounting surface of the hub to be installed through machine vision recognition, and the pitch bearing installation in place information is fed back to the central control system.

[0113] Specifically, the lifting mechanism X32 in the pitch bearing turnover machine X3 moves upwards, drives the cross rod X33 and the bearing grabbing mechanism X34 to move upwards, and at the same time, the lifting mechanism X32 moves to the right along the turnover machine ground rail X39 until the lifting mechanism X32 moves above the bearing conveying frame. Through the cooperation of the lifting mechanism X32, the cross rod X33 and the bearing grabbing mechanism X34, the pitch bearing on the bearing conveying frame X2 is grabbed, and then the grabbed pitch bearing is moved and installed at the first bearing mounting surface of the hub to be installed through the corresponding moving mode.

[0114] Step five, the fastener in the fastener storage device is automatically grabbed by the fastener pre-tightening device, and the fastener is pre-installed on the hub to be assembled after the first pitch bearing is assembled.

[0115] Specifically, the first six-axis robot X42 in the fastener pre-tightening device X4 moves, and the pre-tightening tool X41 at the end thereof clamps the double-headed stud and hexagonal nut placed in the fastener storage device X53. Through machine vision recognition, not less than 8 double-headed studs and nuts are pre-installed in the direction of the four corners of the pitch bearing in turn. Two six-axis robots repeat the assembly process of the double-headed stud and hexagonal nut until all the fasteners are pre-assembled. The assembly information is fed back to the central control system. After the pre-installation is completed, the first six-axis robot X42 returns to the original position, and the bearing grabbing mechanism X34 in the pitch bearing turnover machine releases the grab and returns to the initial position.

[0116] Step six, the hub turntable X1 rotates the hub to be assembled placed thereon, and repeats the above steps four and five to complete the pre-installation of the second and third pitch bearings.

[0117] Step seven, transport the three pre-assembled variable pitch bearing hubs to the fastener stretching and tightening device through the second hub conveying line, and complete the stretching and tightening of the fasteners on the three bearing surfaces through the fastener stretching and tightening device.

[0118] In this embodiment, the three pre-assembled variable pitch bearing hubs are transported to the fastener tightening area by the AGV trolley, and the stretching and tightening of the fasteners on the three bearing surfaces is completed through the fastener stretching and tightening device.

[0119] Specifically, the three pre-assembled variable pitch bearing hubs are transported to the fastener tightening area by the AGV trolley, and the two six-axis robots of the fastener pre-tightening device X4 start stretching the stud bolts on the first bearing surface according to the process requirements, that is, the stretching and tightening of the nut and stud bolt is realized through the stretching and tightening tool X63 at the end of the second six-axis robot X62, and after the stretching and tightening of the stud bolts on the first bearing surface is completed, the hub turntable rotates the hub horizontally by 120°, and the two six-axis robots repeat the stretching and tightening action of the first bearing surface, until the second bearing surface is tightened, and then the stretching and tightening process of the first and second bearing surfaces is repeated to complete the tightening of the third bearing surface.

[0120] Step eight, transport the hub to the accessory assembly device through the second hub conveying line, and install the accessories through the accessory assembly device to complete the assembly of the wind turbine hub.

[0121] In this embodiment, the assembled hub is transported to the next station by the AGV trolley, and the installation of other accessories is completed by using the tools in the transfer control device, the assembly information is automatically uploaded to the central control system, the AGV trolley is transported to the finished product storage area, and the AGV trolley returns to the starting point to repeat the above process.

[0122] Through the above scheme, the multiple dispersed independent stations are integrated into a production line in this embodiment, the key material circulation is realized without human intervention, and the intelligent degree of the key stations is improved by comprehensively using automatic control, mechanical hand, robot, stretching and tightening, and machine vision technologies, which replaces the overhead crane + manual lifting mode for the hub and variable pitch bearing, manual pre-assembly of fasteners, manual stretching / tightening, manual measurement + manual recording, greatly improves the flexibility, automation and intelligence of the production line, reduces the labor intensity of workers, and reduces labor costs.

[0123] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0124] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

[0125] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A wind turbine generator hub assembly production line, characterized in that, It includes a truss robot, a first hub conveyor line, a pitch bearing conveyor line, a pitch bearing turning machine, a fastener pre-tightening device, a fastener storage device, a second hub conveyor line, a fastener tensioning and tightening device, and an accessory assembly device, which are set sequentially along the assembly process flow. The truss manipulator includes a steel structure support. The wheel hub and pitch bearing to be assembled are placed below the steel structure support. A first wheel hub conveyor line and a pitch bearing conveyor line are respectively installed at both ends of the steel structure support. The first wheel hub conveyor line and the pitch bearing conveyor line are arranged in parallel. A pitch bearing tilting machine is installed between the ends of the two conveyor lines. The pitch bearing tilting machine includes two parallel tilting machine rails and a pitch bearing tilting body installed on the tilting machine rails. The tilting machine rails are perpendicular to the two conveyor lines. A fastener pre-tightening device is installed between the two tilting machine rails, and a fastener storage device is installed on the outside of the two tilting machine rails. The end of the first wheel hub conveyor line is connected to a second wheel hub conveyor line. A fastener tensioning and tightening device and an accessory assembly device are sequentially installed on one side of the second wheel hub conveyor line. The main body of the pitch bearing tilting machine includes a lifting column, a lifting mechanism, a crossbar, a bearing gripping mechanism, a counterweight device, a tilting machine ground rail, and a third control cabinet. The tilting machine's ground rail has a rectangular frame structure. The upper surface of the ground rail is equipped with a guide rail and a slider that slides along the guide rail. A connecting plate is installed on the slider and is connected to the lifting column. The lifting column is equipped with a lifting mechanism, and the lifting mechanism is equipped with a lifting nut connecting plate. The two ends of the crossbar are connected to the lifting nut connecting plate through rotary bearings. A bearing gripping mechanism is slidably installed on the crossbar. The bearing gripping mechanism includes a servo electric cylinder, a track, a motor and a reducer, a clamping cylinder, a rotary support, a claw, and a scanning device equipped with machine vision recognition. Machine vision recognition is used for phase alignment and correction. It can perform corresponding bearing phase recognition based on information obtained from cameras, webcams, and infrared scanning devices. Based on this recognition, the gripping position is automatically adjusted to realize automatic gripping, lifting, flipping, lateral movement, alignment, and installation of automatic pitch bearings. The AGV (Automated Guided Vehicle) uses magnetic strip navigation and includes a hub turntable and bearing conveyor. The AGV has a lifting function to match the gripping height of the gantry robot.

2. The wind turbine hub assembly production line as described in claim 1, characterized in that, The truss manipulator also includes a longitudinal guide rail drive device, a longitudinal guide rail, a crossbeam, a lifting mechanism, a crossbeam drive device, a crossbeam track, a clamp, and a first control cabinet. The steel structure support is provided with a longitudinal guide rail and multiple crossbeams perpendicular to the longitudinal guide rail. Both ends of the multiple crossbeams are slidably connected to the longitudinal guide rail. A longitudinal guide rail drive device is provided on the longitudinal guide rail for driving the crossbeams to move longitudinally along the longitudinal guide rail. A crossbeam track is provided on the crossbeam track, and a lifting mechanism that moves laterally along the track is provided on the crossbeam track. A crossbeam drive device is also provided on the crossbeam track for driving the lifting mechanism to move laterally along the crossbeam track. A clamp is fixedly installed at the bottom of the lifting mechanism, and a lifting drive device is provided on the lifting mechanism for driving the clamp to move up and down.

3. The wind turbine generator hub assembly production line as described in claim 1, characterized in that, The first hub conveyor line is equipped with a hub turntable, which includes a first three-dimensional frame, a turntable, a positioning block, a drive rotation device, and a second control cabinet. A turntable is rotatably mounted on the first three-dimensional frame, and multiple positioning blocks are fixedly and symmetrically mounted on the turntable. A drive rotation device and a second control cabinet are provided on one side of the first three-dimensional frame, and the drive rotation device is electrically connected to the second control cabinet and the turntable.

4. The wind turbine hub assembly production line as described in claim 1, characterized in that, The pitch bearing conveyor line is equipped with a bearing conveyor frame, which includes a second three-dimensional frame, a platform, and a bearing positioning block. A platform is fixedly installed on the second three-dimensional frame, and multiple bearing positioning blocks are fixedly and symmetrically installed on the platform.

5. The wind turbine hub assembly production line as described in claim 1, characterized in that, The fastener pre-tightening device includes a pre-tightening fixture, a first six-axis robot, a first robot base, a robot ground rail, and a fourth control cabinet. The robot ground rail is perpendicular to the tilting machine ground rail, and a first robot base is fixedly installed on it. A first six-axis robot is provided on the first robot base, and a pre-tightening fixture is provided at the end of the first six-axis robot. The pre-tightening fixture includes a mounting base on which a quick-change disc is fixedly mounted. The quick-change disc is installed at the end of the first six-axis robot. The mounting base also includes a first camera, a stud rotation drive device, a stud chuck, a nut tightening device, a nut chuck, and a nut rotation drive device. The stud chuck and nut chuck are used to clamp the studs and nuts to be installed, respectively. The stud chuck and nut chuck are electrically connected to the stud rotation drive device and the nut rotation drive device, respectively, and are used to drive the stud chuck and nut chuck to rotate. The nut tightening device is located between the stud rotation drive device and the nut rotation drive device and includes a reducer, a servo drive motor, a sensor, a spline shaft, and a sleeve. The sleeve adopts a large arc-shaped internal hexagonal structure and is installed at the output end of the spline shaft. The spline shaft is electrically connected to the reducer and the servo drive motor in sequence. The servo drive motor drives the reducer, the spline shaft, and the sleeve to rotate together.

6. The wind turbine hub assembly production line as described in claim 1, characterized in that, The fastener storage device includes a placement frame, a nut positioning rod, a nut gripping mechanism, and a stud positioning device. The nut positioning rod is set in the placement frame, and the nuts to be installed are arranged in sequence and pass through the nut positioning rod; the nut gripping mechanism includes a turntable and a gripper for the nuts to be installed set on the turntable; the stud positioning device is a stud placement frame with multiple placement slots, and the studs to be installed are vertically inserted into the placement slots respectively.

7. The wind turbine hub assembly production line as described in claim 1, characterized in that, The fastener tensioning and fastening device includes a second robot base, a second six-axis robot, a tensioning and fastening fixture, a second robot control cabinet, and a main control cabinet. The second robot base is fixedly installed on the ground, and a second six-axis robot is mounted on it. The end of the second six-axis robot is equipped with a tensioning and fastening fixture. The tensioning and fastening fixture includes a mounting base, a second camera, a tensioner body, and an anti-loosening line coating device. The tensioning and fastening fixture is fixedly installed at the end of the second six-axis robot through the mounting base. The tensioner body includes a nut drive device, a tension mounting base, a gearbox, a pull rod drive device, and a tensioner. The tensioner body is fixedly mounted on a tension fastening fixture via the tension mounting base. The tensioner includes a threaded pull rod, a piston, a spring, a housing, a gear, and a sleeve. The inner wall of the sleeve has a locking position. One side of the tensioner has a nut drive device, which includes a connecting sleeve and a motor, a reducer, a splined shaft, and a gear disposed within the connecting sleeve. The splined shaft passes through the gear and is fixedly connected to the gear. The motor is electrically connected to the splined shaft via the reducer. The other side of the tensioner is connected to the pull rod drive device via a gearbox. The gearbox includes a gear, a housing, and a cover. An internal spline is provided at the central shaft position of the gear. One end of the gearbox is mounted on the mounting base of the tension fastening fixture via a mounting base, and the other end is connected to the pull rod drive device. The pull rod drive device includes a connecting sleeve and a motor, a reducer, and a splined shaft disposed within the connecting sleeve. The splined shaft is matched and fixedly connected to the gear in the gearbox.

8. The wind turbine hub assembly production line as described in claim 1, characterized in that, The accessory assembly device includes a vehicle body, a socket selector, a display screen, an alarm light, monitoring and alarm equipment, assembly tools, a card reader, a drawer, and casters; the assembly tools include a digital torque wrench, a wireless measuring tool, and a multimeter.

9. A method for assembling a wind turbine hub, characterized in that, Based on the wind turbine hub assembly production line as described in any one of claims 1-8, the process includes the following steps: By moving the grippers in the truss manipulator back and forth, left and right, and up and down, the wheel hubs and pitch bearings to be assembled placed in the steel structure support are hoisted onto the wheel hub turntable of the first wheel hub conveyor line and the bearing conveyor frame of the pitch bearing conveyor line, respectively. The wheel hub turntable with the wheel hub to be assembled and the bearing conveyor frame with the pitch bearing are transported to both sides of the pitch bearing turning machine through the conveyor lines. The pitch bearing tilting body is moved by the tilting machine ground rail. The pitch bearing tilting body moves to the top of the bearing conveyor frame. The bearing gripping mechanism grips the first pitch bearing to be installed on the bearing conveyor frame. Then the pitch bearing tilting body is moved to one side of the wheel hub turntable. The first pitch bearing is installed on the first bearing mounting surface of the wheel hub to be installed. The fastener pre-tightening device is driven to automatically grip the fasteners in the fastener storage device and pre-install the fasteners on the wheel hub to be installed after the first pitch bearing is assembled. Rotate the hub turntable to rotate the hub to be assembled to another bearing mounting surface. Repeat the above actions to complete the pre-installation of the second and third pitch bearings. The pre-assembled hubs with three pitch bearings are transported via the second hub conveyor line to the fastener tensioning and tightening device, where the fasteners on the three bearing surfaces are tensioned and tightened. Then, they are transported to the accessory assembly device, where the accessories are installed, completing the assembly of the wind turbine hub.

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