Wind power bearing assembly detection device and assembly method

Abstract

The present invention relates to the technical field of bearing assembly detection, and in particular to an assembly detection device and assembly method for a wind power bearing, which includes a control module and a mechanical module. The mechanical module includes a workbench and a collaborative robot arm. The top of the workbench is overlapped with a bearing. The top of the workbench is rotatably connected to a rotating mechanism. The rotating mechanism is clamped to the outer surface of the bearing. Placement boxes are provided on both sides of the collaborative robot arm. One end of the collaborative robot arm is fixedly connected to a universal joint. The present invention has a collaborative robot arm, a detection mechanism and a clamping mechanism. The collaborative robot arm can clamp the parts of the bearing in the placement box through the clamping mechanism and assemble the bearing on the workbench. After the clamping mechanism completes the assembly, the detection mechanism can detect the regional results of the current assembly, and can also detect the bearing as a whole after the bearing is fully assembled. The accuracy of the bearing assembly is improved, which is conducive to improving the quality of the bearing.

Description

Technical Field

[0001] The present invention relates to the technical field of bearing assembly detection, and in particular to an assembly detection device and an assembly method for a wind power bearing. Background Art

[0002] At present, the operating environment of wind turbines is complex. The rapid changes in temperature, air pressure, wind speed and load make wind power equipment prone to failure. Wind turbine bearings are key components of wind turbine components. Wind turbine bearings not only need to withstand the gravity loads of components such as blades, hubs, and pitch systems, but also need to withstand aerodynamic loads and operating loads. However, since wind turbine equipment operates under extremely unstable wind speeds, loads and complex working conditions, bearings are easily damaged.

[0003] Some of the existing wind turbine bearings often fail prematurely due to wear, plastic deformation, spalling, corrosion and fracture. About 10% of the bearings operate normally during their life cycle. When assembling wind turbine bearings, it is not easy for workers to control the quality of wind turbine bearings, so strict inspection of wind turbine bearings is required. Summary of the invention

[0004] In order to facilitate the control of the quality of wind power bearings, improve the quality of wind power bearings, and enable the bearings to achieve the expected service life, the present invention provides an assembly detection device and an assembly method for wind power bearings.

[0005] The present invention provides a wind power bearing assembly detection device and an assembly method using the following technical solutions:

[0006] A wind power bearing assembly detection device comprises a control module and a mechanical module, the mechanical module comprises a workbench and a collaborative robot arm, the top of the workbench is overlapped with a bearing, the top of the workbench is rotatably connected to a rotating mechanism, the rotating mechanism is clamped to the outer surface of the bearing, placement boxes are arranged on both sides of the collaborative robot arm, one end of the collaborative robot arm is fixedly connected to a universal joint, and one end of the universal joint is fixedly connected to a detection mechanism and a clamping mechanism; the control module comprises a controller with a touch display screen, and the collaborative robot arm, the rotating mechanism, the universal joint, the detection mechanism and the clamping mechanism are all communicatively connected to the controller.

[0007] By adopting the above technical solution, the controller controls the clamping mechanism to pick up the bearing parts and assemble them on the workbench. The installation accuracy of the bearing parts is higher than that of manual installation. After assembly, the controller controls the detection mechanism to perform quality inspection on the bearings, completing the bearing assembly in one stop. By improving the quality of the bearing assembly, the bearing can achieve the expected life.

[0008] Preferably, the bearing comprises an inner gear ring, a first outer ring, a second outer ring, an auxiliary thrust retainer, a plurality of auxiliary thrust rollers, a radial retainer, a plurality of radial rollers, a main thrust retainer and a plurality of main thrust rollers, the outer surface of the middle portion of the inner gear ring is sleeved inside the auxiliary thrust retainer, the bottom of the first outer ring is overlapped with the top of the second outer ring, the bottoms of the plurality of auxiliary thrust rollers and the outer surfaces of the plurality of radial rollers are overlapped with the outer surface of the inner gear ring, and the tops and bottoms of the plurality of main thrust rollers are respectively overlapped with the bottom of the inner gear ring. and the inside of the first outer ring, the auxiliary thrust retainer is overlapped with the inside of the second outer ring; the insides of the auxiliary thrust retainer, the radial retainer and the main thrust retainer are all provided with a plurality of placement grooves in a circumferential array along the bearing axis, a plurality of the auxiliary thrust rollers are overlapped with the insides of the corresponding placement grooves on the auxiliary thrust retainer, a plurality of the radial rollers are overlapped with the insides of the corresponding placement grooves on the radial retainer, a plurality of the main thrust rollers are arranged in pairs in a row, and the radial rollers in each row are overlapped with the insides of the corresponding placement grooves on the radial retainer.

[0009] Preferably, the auxiliary push retainer and the radial retainer both include a plurality of section sub-frames, each of the sub-frames has the same number of placement slots, and the placement slots of the auxiliary push retainer and the radial retainer both have four arc angles and four planes.

[0010] By adopting the above technical scheme, the larger auxiliary thrust cage and radial cage are divided into sections, which facilitates the transportation and storage of the auxiliary thrust cage and the radial cage; the rollers of the bearing are limited by placing grooves, and the injected grease is stored in the arc angle. When the bearing is running, the grease in the upper part of the bearing flows to the outer surface of the bearing roller, and in the lower part of the bearing, the lubricating oil on the surface of the bearing roller flows into the arc angle below, thereby avoiding long-term operation of the bearing and excessive consumption of the oil film.

[0011] Preferably, the top of the auxiliary thrust retaining frame is overlapped with a floating ring, the top of the floating ring is fixedly connected with a plurality of disc springs arranged in a circular array along its axis, the top of the disc spring is slidably connected to the inside of the second outer ring, and the inner side of the inner gear ring is fixedly connected with a plurality of teeth arranged in a circular array, and the top of each tooth is straight, the root of the tooth is arc-shaped, and the tooth direction is drum-shaped.

[0012] By adopting the above technical solution, the disc spring is used to reduce the load impact brought by the blades, thereby preventing the bearing from being overloaded due to excessive wind force. At the same time, by optimizing the shape of the teeth and adjusting the stress distribution of the bearing, the actual service life of the bearing is extended and the time of bearing failure is delayed.

[0013] Preferably, the rotating mechanism includes two low-rotating rollers and two high-rotating rollers, and four motors are fixedly connected to the bottom of the workbench. The ends of the four motor output shafts are respectively connected to the bottom of the two low-rotating rollers and the bottom of the two high-rotating rollers. The two low-rotating rollers and the two high-rotating rollers are located around the bearing and are placed diagonally. The first outer ring is time-sharingly clamped between the two low-rotating rollers, and the second outer ring is time-sharingly clamped between the two high-rotating rollers. A through hole is opened on the top of the workbench.

[0014] By adopting the above technical solution, the first outer ring and the second outer ring are rotated through the cooperation of two low-rotating rollers and two high-rotating rollers, thereby cooperating with the collaborative robot arm to complete the assembly of the bearing.

[0015] Preferably, the detection mechanism includes an electronic micrometer, an electronic clamp, a laser locator and an ultrasonic flaw detector, and the electronic micrometer, electronic clamp, laser locator, ultrasonic flaw detector and four motors are all communicatively connected to the controller.

[0016] By adopting the above technical solution, the current positions of the electronic micrometer, electronic gripper and ultrasonic flaw detector are fed back to the controller in real time through the laser locator, which makes it convenient for the controller to control the collaborative robot arm and the universal joint to adjust the orientation of the electronic micrometer, electronic gripper and ultrasonic flaw detector.

[0017] A method for assembling a wind power bearing comprises the following steps: A, a controller controls a cooperative mechanical arm to assemble the bearing; B, the controller controls a corresponding motor, a rotating mechanism drives the bearing to rotate, the controller controls the cooperative mechanical arm and the universal joint to move, and an electronic micrometer and an ultrasonic flaw detector move to the surface of the bearing to inspect the bearing.

[0018] Preferably, in step A, the specific operating steps of the controller controlling the collaborative robot arm to assemble the bearing include: step A1, assembling the first outer ring, the main thrust retainer and the main thrust roller; step A2, assembling the inner gear ring, the auxiliary thrust retainer, a plurality of auxiliary thrust rollers, the radial retainer, a plurality of radial rollers and the floating ring; step A3, hanging the inner gear ring that has passed step A2 inside the first outer ring by a crane, and then hanging the second outer ring on the top of the first outer ring.

[0019] Preferably, in step A1, the specific operation steps of assembling the first outer ring, the main push retainer and the main push roller include: A11, hanging the first outer ring on the top of the workbench by a crane; A12, the controller controls the cooperative robot arm to clamp the main push retainer and place it on the inner wall of the first outer ring; A13, the controller controls the cooperative robot arm to clamp the main push roller and place it in the corresponding placement groove; A14, the controller controls the motors of the two low-rotation rollers to start for a certain time, and the first outer ring rotates a certain angle; A15, repeating steps A12, A13 and A14 until all the main push rollers are placed in the placement grooves of the main push retainer. In step A2, the inner gear ring, auxiliary push retainer and auxiliary push roller are assembled. The specific operating steps of the holder, several auxiliary push rollers, radial retaining frames, several radial rollers and floating rings include: A21, hang the inner gear ring on the top of the workbench by means of a crane; A22, the controller controls the cooperative robot arm to clamp the auxiliary push retaining frame and the radial retaining frame and place them on the outer surface of the inner gear ring; A23, the controller controls the cooperative robot arm to clamp the auxiliary push roller or the radial roller and place them in the corresponding placement groove; A24, the controller controls the motors of the two low-rotation rollers to start for a certain period of time, and the first outer ring rotates a certain angle; A25, repeat steps A22, A23 and A24 until the auxiliary push rollers and radial rollers fill the placement grooves of the auxiliary push retaining frame and the radial retaining frame respectively.

[0020] By adopting the above technical solution, it is convenient for the controller to control the collaborative robot arm to assemble and inspect at the same time, thereby enhancing the accuracy of installation.

[0021] In summary, the present invention has the following beneficial technical effects:

[0022] 1. The present invention is provided with a collaborative robot arm, a detection mechanism and a clamping mechanism. The collaborative robot arm can clamp the bearing parts in the placement box through the clamping mechanism and assemble the bearing on the workbench. After the clamping mechanism completes the assembly, the detection mechanism can detect the regional results of the current assembly, and can also detect the entire bearing after the bearing is fully assembled. The accuracy of the bearing assembly is improved, and the quality of the assembly is controlled during the assembly, which is conducive to improving the quality of the bearing;

[0023] 2. The present invention sets the top of the tooth to be straight, the root of the tooth to be arc-shaped, and the tooth direction to be drum-shaped. When the inner gear ring is meshed with the gear, it is beneficial to adjust the load distribution on the outer surface of the tooth, so that the stress distribution of the bearing is more reasonable, the bearing load performance is improved, the quality of the wind power bearing is improved, and the bearing can reach the expected life;

[0024] 3. A part of the placement groove set in the present invention is provided with four arc angles and four planes, and the auxiliary thrust roller and the radial roller are rotatably connected inside the four planes. With the rotation of the bearing, the grease in the four arc angles will flow out to compensate the oil film of the auxiliary thrust roller, the radial roller and the main thrust roller. At the same time, when the oil film of the auxiliary thrust roller, the radial roller and the main thrust roller is thicker, with the rotation of the bearing, the excess grease flows into the arc angles and is stored in the four arc angles, while avoiding being polluted and causing scrapping. The bearing adjusts the oil film pressure and changes the oil film thickness at different speeds, and the friction heat between the auxiliary thrust roller, the radial roller and the main thrust roller and the raceway is reduced, which is beneficial to reducing the friction loss between the roller and the raceway in the bearing. When the external temperature is low, the friction between the roller and the raceway in the bearing increases, the temperature rises, and the solidified grease stored in the four arc angles melts and wraps the auxiliary thrust roller, the radial roller and the main thrust roller, which also reduces the friction loss between the roller and the raceway in the bearing.

[0025] 4. The present invention is provided with a rotating mechanism, which clamps the first outer ring and the second outer ring respectively through two low rotating rollers and two high rotating rollers. When the two low rotating rollers and the two high rotating rollers rotate, the first outer ring and the second outer ring are driven to rotate. At this time, the controller controls the micrometer and the ultrasonic flaw detector to detect the roundness and damage of different areas of the first outer ring and the second outer ring respectively, so as to facilitate the detection of data of different areas of the first outer ring and the second outer ring respectively, which is beneficial to quickly detect the data of the assembled bearing, and at the same time, it is beneficial to avoid the occurrence of the situation where the auxiliary thrust cage, several auxiliary thrust rollers, radial cage, several radial rollers, main thrust cage and several main thrust rollers cannot be accurately installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional structural schematic diagram of an assembly detection device for a wind power bearing of the present invention;

[0027] Figure 2 yes Figure 1 C-direction view in;

[0028] Figure 3 yes Figure 1 D-direction view in;

[0029] Figure 4 yes Figure 1 A magnified schematic diagram of the local structure at B in the middle;

[0030] Figure 5 It is a three-dimensional structural schematic diagram of the bearing in the present invention;

[0031] Figure 6 is a top view of the bearing in the present invention;

[0032] Figure 7 yes Figure 6 Sectional view along line AA;

[0033] Figure 8 It is a schematic diagram of the structure of the tooth in the present invention;

[0034] Fig. 9 It is a structural schematic diagram of the auxiliary push cage in the present invention;

[0035] Fig.10 It is a schematic structural diagram of the radial retainer in the present invention.

[0036] Description of reference numerals:

[0037] 1. Workbench; 2. Collaborative robotic arm; 21. Base; 22. Two-axis robotic arm;

[0038] 3. Bearing; 31. Inner gear ring; 32. First outer ring; 33. Second outer ring; 34. Auxiliary thrust cage; 35. Auxiliary thrust roller; 36. Radial cage; 37. Radial roller; 38. Main thrust cage; 39. Main thrust roller;

[0039] 4. Placement box; 5. Universal joint; 6. Disc spring; 7. Gear teeth;

[0040] 8. Main push cage; 9. Low rotation roller; 10. High rotation roller;

[0041] 11. Motor; 12. Electronic micrometer; 13. Electronic gripper. DETAILED DESCRIPTION

[0042] The following is combined with Figure 1-Figure 10 The present invention is described in further detail.

[0043] The embodiment of the invention discloses an assembly detection device for a wind power bearing.

[0044] Reference Figure 1 , Figure 2 , Figure 3 , Figure 7, including a control module and a mechanical module, the mechanical module includes a workbench 1 and a collaborative robot arm 2 (known technology), the collaborative robot arm 2 includes a base 21 and a two-axis robot arm 22, the base 21 has a power system inside, the bottom end of the two-axis robot arm 22 rotates on the top of the base 21, the top of the two-axis robot arm 22 is connected to the universal joint 5, the two-axis robot arm 22 serves as an extension arm, when the two-axis robot arm 22 rotates, the position of the end instruments of the collaborative robot arm 2 such as the electronic micrometer 12, the electronic gripper 13, the laser locator, and the ultrasonic flaw detector can be changed, so that when the electronic gripper 13 grabs the parts of the bearing 3, it is convenient to assemble the parts of the bearing 3 at different heights and in different areas, the top of the workbench 1 is overlapped with the bearing 3, the top of the workbench 1 is rotatably connected with a rotating mechanism, the rotating mechanism is clamped on the outer surface of the bearing 3, and the two sides of the collaborative robot arm 2 are provided with a placement box 4, several sections of the auxiliary push roller 35, the radial roller 37, the main push roller 39, the auxiliary push retainer 34 and the radial retainer 36 The sub-racks are placed in different placement boxes 4 respectively, and the electronic gripper 13 clamps the parts of the bearing 3 from the placement box 4. The swing of the cooperative robot arm 2 changes the position of the detection mechanism and the clamping mechanism, and the rotating mechanism drives the bearing 3 to rotate, so that the detection mechanism detects the data of different positions on the bearing 3, and the clamping mechanism assembles different small parts into the bearing 3. One end of the cooperative robot arm 2 is fixedly connected with a universal joint 5 (known technology), and the universal joint 5 connects the detection mechanism and the clamping mechanism, which can drive the detection mechanism and the clamping mechanism to turn, thereby driving the detection mechanism and the clamping mechanism to adjust the orientation, which is convenient for detecting or assembling different positions of the bearing 3. One end of the universal joint 5 is fixedly connected with the detection mechanism and the clamping mechanism; the control module includes a controller with a touch display screen, and the data detected by the detection mechanism is transmitted to the controller, and the detected data can be displayed on the display by operating the touch display. The cooperative robot arm 2, the rotating mechanism, the universal joint 5, the detection mechanism and the clamping mechanism are all connected to the controller for communication;

[0045] Reference Figure 1 , Figure 5 The bearing 3 is normally provided with an oil hole and a tapered hole for injecting lubricating oil and installing a tapered nail or bolt.

[0046] Reference Figure 1 , Figure 5 , Figure 7The bearing 3 includes an inner gear ring 31, a first outer ring 32, a second outer ring 33, an auxiliary thrust retainer 34, a plurality of auxiliary thrust rollers 35, a radial retainer 36, a plurality of radial rollers 37, a main thrust retainer 38 and a plurality of main thrust rollers 39. The bearing 3 has three rows of raceways, and there is a row of auxiliary thrust rollers 35, a row of radial rollers 37 and two rows of main thrust rollers 39 on the three rows of raceways. The bearing 3 is located in the pitch system of the wind turbine blade and can withstand large radial loads, axial loads and overturning moments to stably adjust the windward direction of the blade. The outer surface of the middle part of the inner gear ring 31 is sleeved inside the auxiliary thrust retainer 34. The bottom of the first outer ring 32 overlaps the top of the second outer ring 33. The bottoms of the plurality of auxiliary thrust rollers 35, the plurality of radial rollers 37 and the main thrust rollers 39 are connected to the inner ring 31 of the auxiliary thrust retainer 34. The outer surfaces of the radial rollers 37 are overlapped on the outer surface of the inner gear ring 31, the tops and bottoms of several main thrust rollers 39 are overlapped on the bottom of the inner gear ring 31 and the inside of the first outer ring 32 respectively, and the auxiliary thrust retainer 34 is overlapped on the inside of the second outer ring 33; the interiors of the auxiliary thrust retainer 34, the radial retainer 36 and the main thrust retainer 38 are all provided with several placement grooves in a circular array along the axis of the bearing 3, several auxiliary thrust rollers 35 are overlapped on the inside of the corresponding placement grooves on the auxiliary thrust retainer 34, several radial rollers 37 are overlapped on the inside of the corresponding placement grooves on the radial retainer 36, several main thrust rollers 39 are arranged in pairs in a row, and each row of radial rollers 37 is overlapped on the inside of the corresponding placement groove on the radial retainer 36.

[0047] Reference Figure 7 , Fig. 9 , Fig.10According to the size of the bearing 3, the auxiliary thrust cage 34 and the radial cage 36 are divided into several sections, and the sections of the auxiliary thrust cage 34 and the radial cage 36 respectively constitute the overall auxiliary thrust cage 34 and the radial cage 36. When the bearing 3 is relatively large, the cooperative robot arm 2 can install the auxiliary thrust cage 34 and the radial cage 36 on one side, and detect the quality of the auxiliary thrust cage 34 and the radial cage 36, and detect whether the auxiliary thrust cage 34 and the radial cage 36 have cracks and other injuries. Similarly, the cooperative robot arm 2 can also detect the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39 while installing the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39. The mass of the roller 39, the auxiliary thrust retainer 34 and the radial retainer 36 are evenly divided according to the size of the inner gear ring 31, which is convenient for the rapid assembly of the collaborative robot arm 2 and the workers. When it is detected that the auxiliary thrust roller 35, radial roller 37, auxiliary thrust retainer 34 or radial retainer 36 in the current area of ​​the bearing 3 need to be replaced, the collaborative robot arm 2 can directly replace part of the auxiliary thrust rollers 35, radial rollers 37, auxiliary thrust retainer 34 and radial retainer 36. At the same time, when the collaborative robot arm 2 cannot work and needs to be installed quickly by manual labor, multiple people can also work together to install the auxiliary thrust retainer 34 and radial retainer 36 of a bearing 3 to speed up the installation of the bearing 3. A groove is placed on each sub-frame. The number of the auxiliary thrust retainer 34 and the radial retainer 36 is the same, and the placement grooves of the auxiliary thrust roller 35 and the radial retainer 36 are each provided with four arc angles 8 and four planes. After the lubricating oil is injected into the bearing 3, it is wrapped around the outer surfaces of the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39 to form an oil film. When the thickness of the oil film between the raceways of the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39 on the bearing 3 is small, there will be a lack of oil. However, as the bearing 3 rotates, the grease in the four arc angles 8 will flow out to compensate for the oil film of the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39. At the same time, when the oil film of the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39 is thicker, as the bearing 3 rotates, the excess oil The grease flows into the circular arc corner 8 and is stored in the four circular arc corners 8, while avoiding contamination and resulting in scrapping. The bearing 3 adjusts the oil film pressure and changes the oil film thickness at different speeds. The friction heat between the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39 and the raceway is reduced, which is beneficial to reducing the friction loss between the rollers and the raceway in the bearing 3. The temperature of the bearing 3 begins to drop and is affected by the external temperature. When the external temperature is low, the friction between the rollers and the raceway in the bearing 3 increases, the temperature rises, and the solidified grease stored in the four circular arc corners 8 melts and wraps the auxiliary thrust roller 35, the radial roller 37, and the main thrust roller 39, which also reduces the friction loss between the rollers and the raceway in the bearing 3.

[0048] Reference Figure 7 , Figure 8The top of the auxiliary thrust retainer 34 is overlapped with a floating ring, which isolates the pressure brought by the second outer ring 33 to prevent the inner gear ring 31 from being overstressed and broken. The top of the floating ring is fixedly connected with a plurality of disc springs 6 arranged in a circumferential array along its axis. The disc springs 6 buffer the axial load on the bearing 3, protect the auxiliary thrust rollers 35, radial rollers 37, and main thrust rollers 39, and reduce the plastic deformation of the bearing 3. The top of the disc spring 6 is slidably connected to the inside of the second outer ring 33, and the inner side of the inner gear ring 31 is fixedly connected with a plurality of gears arranged in a circumferential array. Tooth 7, the top of each tooth 7 is straight, the root is arc-shaped, and the tooth direction is drum-shaped. When a pair of teeth are meshed, due to manufacturing errors and deformation of the gear teeth caused by strong external force loads, it often causes unbalanced load, resulting in stress concentration on the gear teeth, which reduces the bearing performance of the tooth carrier. By adjusting the structure of the tooth, and then adjusting the load distribution on the outer surface of the tooth, the stress distribution of the bearing 3 is made more reasonable, the bearing performance of the bearing 3 is improved, the quality of the wind power bearing is improved, and the bearing can achieve the expected life.

[0049] Reference Figure 1 , Figure 2 , Figure 3The rotating mechanism includes two low rotating rollers 9 and two high rotating rollers 10. The outer surfaces of the two low rotating rollers 9 and the two high rotating rollers 10 can be covered with a rubber layer to avoid wearing the outer surfaces of the first outer ring 32 and the second outer ring 33. The first outer ring 32 and the second outer ring 33 are respectively clamped by the two low rotating rollers 9 and the two high rotating rollers 10. When the two low rotating rollers 9 and the two high rotating rollers 10 rotate, the first outer ring 32 and the second outer ring 33 are driven to rotate. At this time, the controller controls the electronic micrometer 12 and the ultrasonic flaw detector to detect the roundness and damage of different areas of the first outer ring 32 and the second outer ring 33 respectively, so as to facilitate the detection of data of different areas of the first outer ring 32 and the second outer ring 33 respectively. When the two low rotating rollers 9 and the two high rotating rollers 10 do not rotate, the first outer ring 32 and the second outer ring 33 are fixed to avoid the inability to accurately install the auxiliary push cage 34, a plurality of auxiliary push rollers 35, a radial cage 36, a plurality of radial rollers 37, The main push retainer 38 and several main push rollers 39, four motors 11 are fixedly connected to the bottom of the workbench 1. Under the control of the controller, the four motors 11 drive the corresponding low-rotation rollers 9 and high-rotation rollers 10 to rotate respectively. The ends of the output shafts of the four motors 11 are respectively connected to the bottoms of the two low-rotation rollers 9 and the bottoms of the two high-rotation rollers 10. The two low-rotation rollers 9 and the two high-rotation rollers 10 are all located around the bearing 3 and are placed diagonally. The first outer ring 32 is clamped between the two low-rotation rollers 9 in a time-sharing manner. When the workbench 1 needs to rotate the first outer ring 32 or the second outer ring 33, the first outer ring 32 rotates between the two low-rotation rollers 9 and the second outer ring 33 rotates between the two high-rotation rollers 10 through friction. The second outer ring 33 is clamped between the two high-rotation rollers 10 in a time-sharing manner. A through hole is opened on the top of the workbench. When the worker needs to perform a separate inspection or assembly on the inside of the bearing 3, the worker can stand in the through hole to facilitate the operation of the bearing 3.

[0050] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4The detection mechanism includes an electronic micrometer 12 (known technology), an electronic clamp 13 (known technology), a laser locator (known technology) and an ultrasonic flaw detector (known technology). The electronic micrometer 12 is used to detect the roundness of parts on the bearing 3. Under the control of the controller, the electronic clamp 13 clamps several sections of the auxiliary push roller 35, the radial roller 37, the main push roller 39, the auxiliary push cage 34 and the radial cage 36. The laser locator detects the position of the end of the current collaborative robot arm 2 in real time, which is convenient for the controller to control the collaborative robot arm 2 and the universal joint 5, adjust the orientation of the electronic micrometer 12, the electronic clamp 13, the laser locator, and the ultrasonic flaw detector. The ultrasonic flaw detector is used to detect the cracks, looseness, pores, inclusions and other detection data of the bearing 3 in real time, and locate the damage, etc., and transmit the detection data generated to the controller in real time, which is convenient for the workers to adjust and correct in time. The electronic micrometer 12, the electronic clamp 13, the laser locator, the ultrasonic flaw detector and the four motors 11 are all connected to the controller for communication.

[0051] The implementation principle of an assembly detection device for a wind power bearing is as follows:

[0052] 1. After the worker carries the first outer ring 32 to the workbench 1, the worker clamps it with the low rotating roller 9, and then places the main push cage 38 on the raceway of the first outer ring 32. Under the operation of the controller, the cooperative robot arm 2 takes the main push roller 39 from the placement box 4 and places it in the placement groove of the main push cage 38, and then carries the inner gear ring 31 and places it on the top of the main push cage 38;

[0053] 2. Under the control of the controller, the collaborative robot arm 2 takes the auxiliary push roller 35, the radial roller 37, the auxiliary push cage 34 and several sections of the radial cage 36 from the placement box 4, places them on the outer surface of the inner gear ring 31, moves the floating ring to the top of the auxiliary push cage 34, and finally moves the second outer ring 33 to the top of the floating ring;

[0054] 3. The controller controls the swing of the collaborative robot arm 2 and the universal joint 5, and controls the motor 11 to drive the high rotation roller 10 and the low rotation roller 9 to rotate, thereby rotating the bearing 3. The electronic micrometer 12 and the ultrasonic flaw detector detect various areas of the rotating bearing 3 after assembly, and detect the roundness and damage of the first outer ring 32, the second outer ring 33, the inner gear ring 31 and the teeth 7.

[0055] The embodiment of the invention discloses a method for assembling a wind power bearing.

[0056] Reference Figure 1 , Figure 5, including the following specific operating steps: step A, the controller controls the collaborative robot arm 2 to assemble the bearing 3; step B, the controller controls the corresponding motor 11, the rotating mechanism drives the bearing 3 to rotate, the controller controls the collaborative robot arm 2 and the universal joint 5 to move, and the electronic micrometer 12 and the ultrasonic flaw detector move to the surface of the bearing 3 to detect the bearing 3.

[0057] Reference Figure 1 , Figure 5 , Figure 7 In step A, the specific operation steps of the controller controlling the collaborative robot arm 2 to assemble the bearing 3 include: step A1, assembling the first outer ring 32, the main push cage 38 and the main push roller 39; step A2, assembling the inner gear ring 31, the auxiliary push cage 34, a plurality of auxiliary push rollers 35, the radial cage 36, a plurality of radial rollers 37 and the floating ring; step A3, hanging the inner gear ring 31 after step A2 inside the first outer ring 32 by a crane, and then hanging the second outer ring 33 on the top of the first outer ring 32. During assembly, first assemble the first outer ring 32 and the double-row main push rollers 39 of the bottom raceway, and then place the inner gear ring 31 to assemble the auxiliary push rollers 35 and the radial rollers 37. Then, the controller controls the electronic micrometer 12 to detect the teeth 7 of the inner gear ring 31 and the surface roundness of the inner gear ring 31, and the surface roundness of the first outer ring 32 and the second outer ring 33. Where the roundness needs to be adjusted, the worker can make a temporary mark to facilitate the correction of the mark point after all the inspections are completed.

[0058] Reference Figure 7 In step A1, the specific operation steps of assembling the first outer ring 32, the main push retainer 38 and the main push roller 39 include: A11, hanging the first outer ring 32 on the top of the workbench 1 by a crane; A12, the controller controls the collaborative robot arm 2 to clamp the main push retainer 38 and place it on the inner wall of the first outer ring 32; A13, the controller controls the collaborative robot arm 2 to clamp the main push roller 39 and place it in the corresponding placement groove; A14, the controller controls the motors 11 of the two low-rotation rollers 9 to start for a certain time, and the first outer ring 32 rotates a certain angle, and the place where the main push roller 39 is not placed is rotated to the positive position of the collaborative robot arm 2 At the bottom, it is convenient for the collaborative robot to place the main push roller 39 until all the placement grooves of the main push retainer 38 are filled with the main push roller 39. Each time the collaborative robot arm 2 fills a main push roller 39, the controller can control the universal joint 5 to rotate, so that the electronic micrometer 12 and the ultrasonic flaw detector perform roundness detection and flaw detection on the current area of ​​the first outer ring 32. When the first outer ring 32 rotates a full circle, the installation of the first outer ring 32 is also completed, and the detection is also completed; A15, repeat steps A12, A13 and A14 until all the placement grooves of the main push retainer 38 are filled with the main push roller 39;

[0059] Reference Figure 7In step A2, the specific operation steps of assembling the inner gear ring 31, the auxiliary thrust retainer 34, a plurality of auxiliary thrust rollers 35, the radial retainer 36, a plurality of radial rollers 37 and the floating ring include: A21, the inner gear ring 31 is suspended on the top of the workbench 1 by a crane; A22, the controller controls the collaborative robot arm 2 to clamp the auxiliary thrust retainer 34 and the radial retainer 36 and place them on the outer surface of the inner gear ring 31; A23, the controller controls the collaborative robot arm 2 to clamp the auxiliary thrust roller 35 or the radial roller 37 and place them in the corresponding placement groove; A24, the controller controls the motor 11 of the two low-rotation rollers 9 to start for a certain time, and the first outer ring 32 rotates a certain angle; A25, heavy Repeat step A22, step A23 and step A24 until the auxiliary thrust roller 35 and the radial roller 37 fill the placement slots of the auxiliary thrust cage 34 and the radial cage 36 respectively. Similarly, when the collaborative robot arm 2 fills each auxiliary thrust cage 34, radial cage 36, auxiliary thrust roller 35 and radial roller 37, the controller can control the universal joint 5 to rotate, so that the electronic micrometer 12 and the ultrasonic flaw detector perform roundness detection and flaw detection on the area of ​​the current inner gear ring 31. When the first outer ring 32 rotates a full circle, the installation of the auxiliary thrust cage 34, radial cage 36, auxiliary thrust roller 35 and radial roller 37 is also completed, and the detection of the inner gear ring 31 is also completed;

[0060] The bearing 3 is driven to rotate simultaneously by two low-rotation rollers 9 and two high-rotation rollers 10, and the detection mechanism detects the data of the assembled bearing 3.

[0061] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wind turbine bearing assembly detection device, characterized in that: The invention comprises a control module and a mechanical module, wherein the mechanical module comprises a workbench (1) and a collaborative mechanical arm (2), wherein a bearing (3) is overlapped on the top of the workbench (1), a rotating mechanism is rotatably connected to the top of the workbench (1), and the rotating mechanism is clamped on the outer surface of the bearing (3), a placement box (4) is arranged on both sides of the collaborative mechanical arm (2), one end of the collaborative mechanical arm (2) is fixedly connected to a universal joint (5), and one end of the universal joint (5) is fixedly connected to a detection mechanism and a clamping mechanism; The control module comprises a controller with a touch screen display, and the collaborative robot arm (2), the rotating mechanism, the universal joint (5), the detection mechanism and the clamping mechanism are all communicatively connected to the controller; The bearing (3) comprises an inner gear ring (31), a first outer ring (32), a second outer ring (33), an auxiliary thrust retainer (34), a plurality of auxiliary thrust rollers (35), a radial retainer (36), a plurality of radial rollers (37), a main thrust retainer (38) and a plurality of main thrust rollers (39); the outer surface of the middle portion of the inner gear ring (31) is sleeved inside the auxiliary thrust retainer (34); the bottom of the first outer ring (32) overlaps the top of the second outer ring (33); the bottoms of the plurality of auxiliary thrust rollers (35) and the outer surfaces of the plurality of radial rollers (37) overlap the outer surface of the inner gear ring (31); the tops and bottoms of the plurality of main thrust rollers (39) overlap the inner gear ring (31) and the outer surfaces of the plurality of radial rollers (37) overlap the inner gear ring (31); The auxiliary thrust retainer (34) is overlapped with the inside of the second outer ring (33); the auxiliary thrust retainer (34), the radial retainer (36) and the main thrust retainer (38) are all provided with a plurality of placement grooves arranged in a circumferential array along the axis of the bearing (3); a plurality of the auxiliary thrust rollers (35) are overlapped with the inside of the corresponding placement grooves on the auxiliary thrust retainer (34); a plurality of the radial rollers (37) are overlapped with the inside of the corresponding placement grooves on the radial retainer (36); a plurality of the main thrust rollers (39) are arranged in pairs in a row, and each row of radial rollers (37) is overlapped with the inside of the corresponding placement grooves on the radial retainer (36); The auxiliary push retainer (34) and the radial retainer (36) both comprise a plurality of section sub-frames, each of the sub-frames having the same number of placement slots, and the placement slots of the auxiliary push retainer (34) and the radial retainer (36) both have four arc angles (8) and four planes.

2. The wind turbine bearing assembly detection device according to claim 1, characterized in that: The top of the auxiliary thrust retaining frame (34) is overlapped with a floating ring, and the top of the floating ring is fixedly connected to a plurality of disc springs (6) arranged in a circular array along its axis, and the top of the disc spring (6) is slidably connected to the inside of the second outer ring (33), and the inner side of the inner gear ring (31) is fixedly connected to a plurality of teeth (7) arranged in a circular array.

3. The wind turbine bearing assembly detection device according to claim 2, characterized in that: The top of each tooth (7) is in a straight line shape, the tooth root is in an arc shape, and the tooth direction is in a drum shape.

4. The wind turbine bearing assembly detection device according to claim 3, characterized in that: The rotating mechanism comprises two low rotating rollers (9) and two high rotating rollers (10); four motors (11) are fixedly connected to the bottom of the workbench (1); the ends of the output shafts of the four motors (11) are respectively connected to the bottoms of the two low rotating rollers (9) and the bottoms of the two high rotating rollers (10); the two low rotating rollers (9) and the two high rotating rollers (10) are both located around the bearing (3) and are placed diagonally; the first outer ring (32) is time-dividedly clamped between the two low rotating rollers (9); the second outer ring (33) is time-dividedly clamped between the two high rotating rollers (10); and a through hole is provided on the top of the workbench.

5. The wind turbine bearing assembly detection device according to claim 4, characterized in that: The detection mechanism comprises an electronic micrometer (12), an electronic clamp (13), a laser locator and an ultrasonic flaw detector, and the electronic micrometer (12), the electronic clamp (13), the laser locator, the ultrasonic flaw detector and the four motors (11) are all communicatively connected to the controller.

6. A method for assembling a wind turbine bearing, characterized in that: Assembling a bearing (3) using the wind power bearing assembly detection device according to claim 5 comprises the following specific operating steps: Step A: The controller controls the collaborative robot arm (2) to assemble the bearing (3); Step B: The controller controls the corresponding motor (11), and the rotating mechanism drives the bearing (3) to rotate. The controller controls the cooperative robot arm (2) and the universal joint (5) to move. After the electronic micrometer (12) and the ultrasonic flaw detector move to the surface of the bearing (3), the bearing (3) is inspected.

7. The method for assembling a wind power bearing according to claim 6, characterized in that: In step A, the specific operation steps of the controller controlling the collaborative robot arm (2) to assemble the bearing (3) include: Step A1, assembling the first outer ring (32), the main thrust retainer (38) and the main thrust roller (39); Step A2, assembling the inner gear ring (31), the auxiliary thrust cage (34), a plurality of auxiliary thrust rollers (35), the radial cage (36), a plurality of radial rollers (37) and the floating ring; Step A3: Use a crane to hang the inner gear ring (31) that has passed step A (2) inside the first outer ring (32), and then hang the second outer ring (33) on top of the first outer ring (32).

8. The method for assembling a wind power bearing according to claim 7, characterized in that: In step A1, the specific operation steps of assembling the first outer ring (32), the main push cage (38) and the main push roller (39) include: A11. Use a crane to hang the first outer ring (32) on top of the workbench (1); A12, the controller controls the cooperative robot arm (2) to clamp the main push holder (38) and place it on the inner wall of the first outer ring (32); A13, the controller controls the cooperative robot arm (2) to clamp the main push roller (39) and place it into the corresponding placement slot; A14, the controller controls the motors (11) of the two low-rotation rollers (9) to start for a certain period of time, and the first outer ring (32) rotates by a certain angle; A15, repeating steps A12, A13 and A14 until all the main push rollers (39) are placed in the placement grooves of the main push retainer (38); In step A2, the specific operation steps of assembling the inner gear ring (31), the auxiliary thrust cage (34), the plurality of auxiliary thrust rollers (35), the radial cage (36), the plurality of radial rollers (37) and the floating ring include: A21. Use a crane to place the inner gear ring (31) on top of the workbench (1). The A22 controller controls the collaborative robot arm (2) to clamp the auxiliary push retainer (34) and the radial retainer (36) and place them on the outer surface of the inner gear ring (31); A23, the controller controls the collaborative robot arm (2) to clamp the auxiliary push roller (35) or the radial roller (37) and place it in the corresponding placement groove; A24, the controller controls the motors (11) of the two low-rotation rollers (9) to start for a certain period of time, and the first outer ring (32) rotates by a certain angle; A25. Repeat steps A22, A23 and A24 until the auxiliary thrust rollers (35) and radial rollers (37) fill the placement grooves of the auxiliary thrust retainer (34) and radial retainer (36), respectively.

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