Bolt tensioning system for mounting a pitch bearing to a wind turbine hub

Abstract

This application provides a bolt tensioning system for mounting pitch bearings to a wind turbine hub, comprising a second robotic arm with a tensioner mounted at its end, the tensioner and the end of the second robotic arm being connected mechanically, electrically, and hydraulically via a quick-change mechanism; a rotary table having a degree of freedom to rotate about its vertical direction, the base of the second robotic arm being mounted on the rotary table; a lifting platform having a degree of freedom to move in the vertical direction, the rotary table being mounted on the lifting platform; a base frame; and a second rotary worktable having a degree of freedom to rotate about its vertical direction, the wind turbine hub being fixed to the second rotary worktable. The second robotic arm moves the tensioner to a working position to tension multiple bolts on one flange face, then the second rotary worktable drives the wind turbine hub to rotate to another flange face to tension bolts, until the bolts on all three flange faces are tensioned.

Description

Technical Field

[0001] This application belongs to the field of wind turbine manufacturing technology, and specifically relates to a bolt tensioning system for mounting pitch bearings to wind turbine hubs. Background Technology

[0002] The wind turbine hub is a key component of a wind turbine generator set, primarily used to connect the main structural parts of the generator set and ensure its stability and safety in harsh environments such as strong winds and vibrations. Bolt tightening is an assembly operation performed during the installation of the pitch bearing on the wind turbine hub. The main purpose of bolt tightening is to ensure that the connection between the pitch bearing and the hub in the generator set has sufficient tightening force and stability.

[0003] In existing technologies, the bolt tensioning process during the installation of pitch bearings on wind turbine hubs typically requires manual operation of a tensioner by workers. When tensioning the pitch bearing bolts, workers use the tensioner to climb an auxiliary ladder and tension each bolt individually. Since the hub has three flange faces, workers must manually tension the bolts on each of the three flange faces separately, which is extremely inconvenient, inefficient, poses a risk of uneven tension, and also presents significant safety hazards.

[0004] Therefore, there is an urgent need in the existing technology for an automatic bolt stretching method to improve production efficiency, reduce stretching quality risks, and improve production reliability. Summary of the Invention

[0005] This application first provides a bolt tensioning system for mounting pitch bearings to wind turbine hubs, which can automatically complete the bolt tensioning of pitch bearings on the three flange faces of the wind turbine hub.

[0006] The bolt tensioning system for mounting the pitch bearing to the wind turbine hub includes:

[0007] The second robotic arm has a tensioner installed at its end. The tensioner and the end of the second robotic arm are mechanically connected, electrically connected, pneumatically connected, and connected to a liquid pipeline through a quick-change mechanism.

[0008] The rotary table has a degree of freedom to rotate about its own vertical direction, and the base of the second robotic arm is mounted on the rotary table;

[0009] A lifting platform has a degree of freedom to move in the vertical direction, and the rotary table is mounted on the lifting platform;

[0010] The base frame, and the lifting platform moves up and down along the vertical track on the base frame;

[0011] The second rotary worktable has a degree of freedom to rotate around its own vertical direction, and the wind turbine hub is fixed on the second rotary worktable;

[0012] The bolts on which the pitch bearing is mounted on the wind turbine hub are stretched using the tensioner mounted on the second robotic arm.

[0013] In one embodiment, the quick-change mechanism includes:

[0014] The main disk is installed at the end of the second robotic arm. The lower end of the main disk is a locking end with a cylindrical outer circumferential surface. Several circular through holes are arranged circumferentially on the cylindrical outer circumferential surface. The circular through holes are connected to the second piston chamber. The bottom of the second piston chamber is sealed by steel balls. The diameter of the circular through holes on the cylindrical outer circumferential surface is smaller than the diameter of the steel balls.

[0015] The tool disc has a steel ball retaining ring installed in the central through hole in its middle part. The steel ball retaining ring has several steel ball receiving chambers. The positions of the steel ball receiving chambers correspond to the positions of several circular through holes arranged on the outer circumference of the cylinder at the locking end of the main disc. The diameter of the opening of the steel ball receiving chamber is equal to the diameter of the circular through hole on the outer circumference of the cylinder.

[0016] In one embodiment, an air inlet is provided on the main plate, and the air inlet is connected to the second piston chamber.

[0017] In one embodiment, the stretcher is connected to the tool disk via a fourth connecting plate;

[0018] The fourth connecting plate has two ears, and positioning holes are provided on the two ears.

[0019] In one embodiment, the vertical track is provided on the front side of the base frame, and a counterweight is provided on the rear side of the base frame, with the counterweight fixed to the upper part of the base frame.

[0020] In one embodiment, a second robotic arm base is mounted on the rotary table, the rear of the second robotic arm base is connected to the rotary table, and the second robotic arm is mounted on the front of the rotary table.

[0021] In one embodiment, the end of the second robotic arm is provided with an image acquisition structure, which is used to acquire images of the wind turbine hub.

[0022] In one embodiment, a plurality of support plates with the length direction being radial to the second rotary worktable are provided on the second rotary worktable. The support plates are arranged in groups of two, for a total of three groups of support plates. Each group of support plates is symmetrically distributed with respect to the center of the second rotary worktable.

[0023] In one embodiment, two second robotic arms are provided, and the base of the second robotic arm is equal to the shortest distance from the rotation center of the second rotary table.

[0024] In one embodiment, the second rotary table is mounted on a horizontal track that extends from far to near the second robotic arm.

[0025] The bolt tensioning system for mounting pitch bearings to wind turbine hubs provided in this application includes a second robotic arm with a tensioner mounted at its end. The tensioner and the end of the second robotic arm are mechanically, electrically, pneumatically, and through a quick-change mechanism. A rotary table with a degree of freedom to rotate about its vertical direction is also included, with the base of the second robotic arm mounted on the rotary table. A lifting platform with a degree of freedom to move vertically is also included, with the rotary table mounted on the lifting platform. A base frame is used, with the lifting platform moving up and down along a vertical track on the base frame. A second rotary worktable with a degree of freedom to rotate about its vertical direction is also included, with the wind turbine hub fixed to the second rotary worktable. The tensioner mounted on the second robotic arm is used to tension the bolts mounting the pitch bearings on the wind turbine hub. The second robotic arm moves the tensioner to a working position to tension multiple bolts on one flange face. Then, the second rotary worktable rotates the wind turbine hub to another flange face for bolt tensioning, until the bolts on all three flange faces are tensioned.

[0026] Furthermore, this application incorporates a lifting platform and a rotating platform to make the system highly flexible, compatible with the automated stretching of wind turbine hub bolts of different specifications, thus meeting the needs of flexible production.

[0027] Furthermore, the tensioner and the second robotic arm are connected mechanically, electrically, pneumatically, and through a quick-change mechanism, which allows the tensioner and the second robotic arm to share the power and signals of the second robotic arm.

[0028] For further clarity, aspects and advantages of the embodiments disclosed in this application will become apparent in the following description or may be learned by practice of the embodiments disclosed in this application. Attached Figure Description

[0029] The accompanying drawings are provided to further understand this application and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation on the invention.

[0030] Figure 1 This is a schematic diagram of the bolt tensioning system provided in Embodiment 1 of this application;

[0031] Figure 2 This is a schematic diagram of the structure of the second robotic arm in Embodiment 1 of this application;

[0032] Figure 3 This is a schematic diagram of the tensioner in Embodiment 1 of this application;

[0033] Figure 4 This is a schematic diagram of the quick-change mechanism in Embodiment 1 of this application;

[0034] Figure 5 This is a schematic diagram of the quick-change mechanism from another perspective in Embodiment 1 of this application;

[0035] Figure 6 This is a schematic diagram of the tensioner located on its tool support frame in Embodiment 1 of this application;

[0036] Figure 7 This is a schematic diagram of the lifting platform and base frame, etc., in Embodiment 1 of this application;

[0037] Figure 8 This is a schematic diagram of the rotating platform and other structural components in Embodiment 1 of this application;

[0038] Figure 9 This is a schematic diagram of the structure of the second rotary table in Embodiment 1 of this application;

[0039] Figure 10 This is a schematic diagram showing the connection between the marking gun and its material conveying system and feeding system in Embodiment 1 of this application;

[0040] Figure 11 This is a schematic diagram showing the connection between the zinc spraying gun and its material conveying system and feeding system in Embodiment 1 of this application;

[0041] Figure 12 This is a schematic diagram of the base structure in Embodiment 1 of this application;

[0042] Figure 13 This is a schematic diagram of the tightening system in Embodiment 1 of this application;

[0043] Figure 14 This is a schematic diagram of the structure of the crossbeam and the slide of the first robotic arm in Embodiment 1 of this application;

[0044] Figure 15 This is a schematic diagram of the structure of the first rotary table in Embodiment 1 of this application;

[0045] Figure 16 This is a structural schematic diagram of the tightening shaft device in Embodiment 1 of this application from a first-view perspective;

[0046] Figure 17 This is a schematic diagram of the tightening shaft device in Embodiment 1 of this application from a second perspective;

[0047] Figure 18 This is a schematic diagram of the structure of the tightening shaft device, including the first piston rod, in Embodiment 1 of this application;

[0048] Figure 19 This is a structural schematic diagram of the tightening shaft device in Embodiment 1 of this application from a third-person perspective;

[0049] Figure 20 This is a schematic diagram of the working state of the tightening shaft device in Embodiment 1 of this application. Detailed Implementation

[0050] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0051] Example 1

[0052] This embodiment provides a bolt tensioning system for mounting a pitch bearing to a wind turbine hub, referring to... Figures 1 to 3 and Figure 7 The bolt tensioning system comprises:

[0053] The second robotic arm 4 has a tensioner 5 installed at its end. The tensioner 5 and the end of the second robotic arm 4 are connected mechanically, electrically, pneumatically, and through a quick-change mechanism 4-2.

[0054] The rotary table 3 has a degree of freedom to rotate around its own vertical direction, and the base of the second robotic arm 4 is mounted on the rotary table 3;

[0055] The lifting platform 2-2 has a degree of freedom to move in the vertical direction, and the rotary table 3 is installed on the lifting platform 2-2;

[0056] Base frame 1, lifting platform 2-2 moves up and down along the vertical track on base frame 1;

[0057] The second rotary worktable 6 has the freedom to rotate around its own vertical direction, and the wind turbine hub 100 is fixed on the second rotary worktable 6.

[0058] The bolts on which the pitch bearing is mounted on the wind turbine hub 100 are stretched using a tensioner 5 mounted on the second robotic arm 4.

[0059] The second robotic arm 4 moves the tensioner 5 to the working position to stretch multiple bolts on one flange face. Then, the second rotary table 6 drives the wind turbine hub 100 to rotate to another flange face to stretch the bolts, until the bolts on all three flange faces are stretched. The stretching process is completed automatically by the system without manual operation, thus saving manpower and time.

[0060] Traditional manual stretching often requires working at heights or in confined spaces, which can be dangerous. In this embodiment, stretching can be performed by a robotic arm within a safe range, thereby improving safety.

[0061] Traditional manual stretching can affect the uniformity and quality of the stretching force due to human factors, while a tensioning device can precisely control the stretching force, ensuring that each bolt reaches the corresponding stretching force, thereby guaranteeing the quality of bolt stretching.

[0062] In this embodiment, the tensioner uses a spring structure for the tension rod's forward, backward, and left / right movements. The tension head has axial and a small amount of radial floating, facilitating engagement between the tension head and the bolt. This prevents rigid contact between the fastening shaft and the bolt due to slight eccentricity or perpendicularity deviation, ensuring smooth operation of the fastener during bolt tightening. The axial and radial floating structures facilitate engagement between the tension head and the bolt, guaranteeing smooth operation during bolt tightening. The tensioner also features automatic lead-in and retract functions, automatically tightening the nut after the bolt is stretched.

[0063] Reference Figure 3 A position sensing plate 5-5 is set on the tensioner, and a first sensor 5-6 is set at the first position. When the position sensing plate 5-5 causes the first sensor 5-6 to have an entry signal, it means that the bolt is screwed in. A second sensor 5-7 is set at the second position. When the position sensing plate 5-5 causes the second sensor 5-7 to have an entry signal, it means that the bolt is unscrewed.

[0064] The second robotic arm 4 moves up and down as a whole via the lifting platform 2-2.

[0065] The rotary table 3 enables the second robotic arm 4 to rotate as a whole.

[0066] The above technical solution achieves a highly flexible design, which is compatible with the automated stretching of wind turbine hub bolts of different specifications, thus meeting the needs of flexible production.

[0067] This embodiment provides an implementation method for the quick-change mechanism, referring to... Figure 4 and 5 The quick-change mechanism 4-2 includes:

[0068] The main disk 4-21 is installed at the end 8-1 of the second robotic arm 4. The lower end of the main disk 4-21 is a locking end 4-23 with a cylindrical outer circumferential surface. Several circular through holes 4-22 are arranged circumferentially on the cylindrical outer circumferential surface. The circular through holes 4-22 are connected to the second piston chamber. The bottom of the second piston chamber is sealed by steel balls 4-27. The diameter of the circular through holes 4-22 on the cylindrical outer circumferential surface is smaller than the diameter of the steel balls 4-27.

[0069] The tool disk 4-24 has a steel ball retaining ring installed in the central through hole 4-25 in its middle part. The steel ball retaining ring is provided with several steel ball receiving chambers. The position of the steel ball receiving chambers corresponds to the position of several circular through holes 4-22 arranged on the outer circumference of the cylinder of the locking end 4-23 on the main disk 4-21. The diameter of the opening of the steel ball receiving chamber is equal to the diameter of the circular through hole 4-22 on the outer circumference of the cylinder.

[0070] Multiple air inlets 4-26 are provided on the main plate 4-21, and the air inlets 4-26 are connected to the second piston chamber.

[0071] The quick-change mechanism uses pneumatic control for locking and unlocking: Pneumatically, steel ball 4-27, as part of the second piston chamber, is forced out by compressed air to engage with the steel ball retainer ring on the tool disc 4-24, thus locking the main disc 4-21 to the tool disc 4-2. When unlocking is needed, the second piston chamber depressurizes, steel ball 4-27 retracts, and the main disc 4-21 and tool disc 4-2 separate, allowing the quick-change mechanism to complete tool changes within seconds.

[0072] Furthermore, the quick-change mechanism can rapidly establish electrical, gas, and liquid connections between one side of the robotic arm and the tool (stretcher) side. This allows different end-effectors to share the robot's energy and signals.

[0073] Reference Figure 6 The tensioner 5 is connected to the tool disk 4-2 via the fourth connecting plate 5-2;

[0074] The fourth connecting plate 5-2 has two ears, and positioning holes 5-3 are provided on the two ears.

[0075] The tensioner 5 is placed on the tensioner spare bracket 5-4 through the two ears of the fourth connecting plate 5-2, and the position of the tensioner 5 on the tensioner spare bracket 5-4 is restricted by the positioning hole 5-3, so as to facilitate the quick positioning of the second robotic arm 4.

[0076] The main function of the tensioner spare bracket 5-4 is to hold tensioners of various specifications to ensure compatibility with bolts on wind turbine hubs of various sizes. The tensioner can be replaced in a quick-change manner through a quick-change mechanism.

[0077] Reference Figure 7 A vertical support frame 2-1 is installed on the base frame 1. A vertical track is installed on the front side of the vertical support frame 2-1, and a counterweight 2-4 is installed on the rear side of the vertical support frame 2-1. The counterweight 2-4 is fixed to the upper part of the vertical support frame 2-1. A vertical lifting motor 2-3 that drives the lifting platform 2-2 to rise and fall is installed on the top of the vertical support frame 2-1.

[0078] The 2-4 counterweight balancing system effectively improves load capacity, reduces the requirements of the transmission system and lifting motor, and offers advantages such as improved system accuracy, reduced inertial forces within the system, extended system lifespan, no need for an additional power system, simple installation, and low maintenance costs.

[0079] Reference Figure 8 A second robotic arm base 3-3 is installed on the rotary table 3. The rear of the second robotic arm base 3-3 is connected to the rotating turntable 3-2, and the second robotic arm base 3-3 is installed on the front of the turntable 3-2.

[0080] Reference Figure 6 The second robotic arm 4 has an image acquisition structure 4-3 at its end, which is used to acquire images of the wind turbine hub 100. The robotic arm 4 can be guided by the image acquisition structure 4-3 to drive the stretcher for stretching and zinc spraying and marking.

[0081] In addition to the image acquisition structure 4-3, it also includes a laser ranging system and a precision guidance system to identify the bolt position. The accuracy of the bolt holes of the pitch bearing is ensured by the laser ranging system and the precision guidance system.

[0082] Reference Figure 9 The second rotary worktable 6 is provided with several support plates 6-2 whose length direction is radial to the second rotary worktable 6. The support plates 6-2 are arranged in groups of two, for a total of three groups of support plates 6-2. Each group of support plates 6-2 is symmetrically distributed with respect to the center of the second rotary worktable 6.

[0083] The second rotary table 6 adopts a box-type structure, supported on the main body by a combination of ring bearings. Its rotational motion accuracy is ensured by precision tapered roller bearings and angular contact bearings mounted on the central shaft of the main body, improving the smoothness of the table's operation and its ability to withstand off-center loads. Its main function is to achieve precise rotation of the wind turbine hub to ensure three-sided stretching and zinc spraying marking operations.

[0084] In this embodiment, refer to Figure 10 Connection diagram of the marking gun 8-3 with its material conveying system 8-2 and feeding system 8-1 Figure 11 A schematic diagram showing the connection between the zinc spraying gun 8-4 and its conveying system 8-2 and feeding system 8-2. Both the zinc spraying and marking devices use diaphragm pumps to deliver the marking liquid to the pipeline. The marking gun 8-3 and the zinc spraying gun 8-4 respectively spray zinc and mark the bolts. The feeding tank is equipped with a pneumatic agitator.

[0085] In this embodiment, two second robotic arms 4 are provided, and the shortest distance between the base of the second robotic arm 4 and the rotation center of the second rotary table 6 is equal.

[0086] In this embodiment, the second rotary table 6 is mounted on a horizontal track, which extends from far to near the second robotic arm 4.

[0087] In this embodiment, refer to Figure 12 The upper surface of the base 1 is equipped with a buffer device 1-2 to prevent the second robotic arm from receiving sudden vibrations; the lower surface is equipped with feet 1-3 for fixing to the working ground.

[0088] In this embodiment, the hydraulic pump station that provides pressure to the tensioner and other components is equipped with a pressure control valve and a pressure sensor. When the hydraulic pump is switched on, its output pressure can be adjusted via a PLC.

[0089] During work:

[0090] Hoist the wind turbine hub to the second rotary worktable 6;

[0091] Signal detection indicates the wind turbine hub is in position;

[0092] The image acquisition structure set on the second robotic arm is used for position recognition, laser ranging, and visual position determination.

[0093] The tensioner at the end of the second robotic arm stretches the bolt;

[0094] After the A-side flange is stretched, the second rotary table rotates 120° to the B-side flange;

[0095] The image acquisition structure set on the second robotic arm is used for position recognition, laser ranging, and visual position determination.

[0096] The tensioner at the end of the second robotic arm stretches the bolt;

[0097] Repeat the above steps;

[0098] Then, zinc spraying and marking are performed on the bolts, repeating the above steps.

[0099] Repeat the above steps to complete the automatic bolt stretching and zinc spraying marking functions.

[0100] The aforementioned bolt stretching system is primarily used for the connection between the pitch bearing and the wind turbine hub in generator sets. It comprises a base, a robotic arm lifting mechanism, a rotating shaft, the robotic arm itself, a stretcher, a heavy-duty servo-driven second rotary table, a zinc spraying and marking device, a spare support for the stretcher, and a vision system. It features visual recognition, detection analysis, and feedback functions, meeting the needs for automatic stretching and zinc spraying / marking of bolts in different locations and of different types.

[0101] This embodiment also provides a bolt tightening system for mounting a pitch bearing to a wind turbine hub. After the bolt tensioning system completes its tensioning, the wind turbine hub is moved to the bolt tightening system for final tightening. (Refer to...) Figure 13 As shown, the bolt tightening system includes:

[0102] Truss 9, truss 9 having several crossbeams 9-1;

[0103] The first robotic arm 10 has a base mounted on the crossbeam 9-1, and a tightening shaft device is installed at the end of the first robotic arm 10.

[0104] The first rotary table 11 has the degree of freedom to rotate around its own vertical axis.

[0105] During operation, the ground transport vehicle delivers the wind turbine hub 100 and hub bracket to the tightening station of the bolt tightening system, and loads the wind turbine hub 100 onto the first rotary worktable 11.

[0106] Then, the first robotic arm 10 starts to tighten the bolts on one of the flange faces of the wind turbine hub 100. Then, the first rotary table 11 rotates so that the bolts on the other flange face are in the working space of the first robotic arm 10, and then the bolts on this flange face are tightened until all the bolts on the three flange faces are tightened to a qualified standard.

[0107] Ground transport vehicles deliver the wind turbine hub 100 and hub bracket out of the work station.

[0108] Specifically, an image acquisition device installed at the end of the truss 9 or the first robotic arm 10 can be used to acquire images of the first rotary worktable 11. The acquired images are then processed and analyzed to determine the position of the first rotary worktable 11, thereby placing the wind turbine hub 100 in the correct position on the first rotary worktable 11. Alternatively, the wind turbine hub 100 can be accurately loaded using limiting fixtures on the first rotary worktable 11, either directly or simultaneously.

[0109] In the prior art, overhead cranes are commonly used for material loading, which has a high risk factor. In this embodiment, by hoisting the first robotic arm 10 onto the truss 9, ground space is freed up, and a ground transport vehicle can be used to send the wind turbine hub 100 into or out of the work station, avoiding interference or collision with ground equipment.

[0110] The first robotic arm 10 can also use visual guidance and laser ranging to take three photos of each flange surface of the wind turbine hub 100 to achieve precise positioning of the bolts to be tightened.

[0111] Among them, truss 9 is equipped with a leveling device to keep the equipment in a horizontal position in various complex terrains or working environments, ensuring stable operation and safety. It is also equipped with ladders and guardrails for convenient equipment inspection and routine maintenance.

[0112] The first rotary table 11 is designed for wheeled transport vehicles and can accommodate wheel hubs of different models and weights. It features 360° rotation and can be fixed at a designated position. It rotates 120 degrees each time and rotates smoothly, satisfying both overall equipment control and individual control requirements.

[0113] In this embodiment, two parallel crossbeams 9-1 are provided on the truss 9;

[0114] Two first robotic arms 10 are arranged on a crossbeam 9-1.

[0115] The first robotic arm track 9-4 is installed on another crossbeam 9-1, as shown in the reference. Figure 14 A slider is configured on track 9-4, and the first base 9-5 of the first robotic arm 10 is connected to the slider. The slider is driven by slider drive motor 9-3 to move linearly on the first robotic arm track 9-4.

[0116] In this implementation, after the wind turbine hub 100 is loaded, the first robotic arm 10 on the first robotic arm track 9-4 moves to the center position of the wind turbine hub 100. After positioning is completed, the three first robotic arms 10 start to tighten the bolts on each flange face respectively. The tightening method is diagonal tightening.

[0117] After all the bolts in all positions are tightened to the required standard, the three first robotic arms 10 are reset, and the first robotic arm 10 on the first robotic arm track 9-4 returns to the zero position.

[0118] In this implementation, a zero-point marker 9-2 is provided at one end of the first robotic arm track 9-4.

[0119] Before and during the loading of the wind turbine hub 100, the first robotic arm 10 on the first robotic arm track 9-4 is positioned at the zero point, leaving a loading channel. This makes the loading process smoother and the loading action simpler, and also avoids collisions between the wind turbine hub 100 and the bolt tightening system.

[0120] In this embodiment, the slider drive motor 9-3 is selected from the same brand of motor as the first robotic arm 10, which is easy to control and has high precision.

[0121] The first robotic arm track 9-4 is mounted on truss 9 in a relatively protected position, making it less susceptible to external damage and contamination. Maintenance is simple, requiring only periodic checks of the wear on the slider and guide groove.

[0122] For the lubrication requirements of the transmission system of the first robotic arm track 9-4 and its slider, this embodiment provides an automatic lubrication device 9-6. The automatic lubrication device 9-6 includes an oil reservoir, an oil supply system, a control system, and accessories and interfaces. The automatic lubrication device 9-6 can supply oil at regular intervals and in measured quantities, achieving automatic lubrication. It mainly utilizes the principles of pressure and flow control, achieving automatic oiling and lubrication through a precise mechanical structure and electronic control system. It ensures continuous and stable operation without requiring manual maintenance at height, reducing the probability of malfunctions. It reduces reliance on workers and avoids wasting lubricating oil.

[0123] The first rotary table 11 is mounted on the hub bracket, as shown in the reference. Figure 15 A hub bracket leveling device 11-1 is installed on the ground to ensure the levelness of the measuring equipment, improving measurement accuracy and reliability, and ensuring safe and stable operation of the equipment. A hub bracket limiting device 11-2 is installed on the hub bracket leveling device 11-1 to ensure that the accuracy of each incoming wind turbine hub is within the error range. The hub bracket limiting device 11-2 provides guidance and limitation for the hub bracket. Nylon pads are also installed on the hub bracket. Nylon is used to avoid hard-on-hard collisions and prevent scratches on the wind turbine hub. Nylon has high mechanical strength, good toughness, and high compressive strength. It also has fatigue resistance, allowing the product to maintain its original mechanical strength after repeated bending. Positioning pins are installed on the hub bracket to fix the wind turbine hub, ensuring consistency and repeatability of the relative position between the hub and the bracket, achieving precise positioning of the wind turbine hub.

[0124] In this embodiment, cable routing holes are pre-drilled in truss 9, eliminating the need for external cable chains and resulting in a neat and uniform appearance. This design protects electrical wires and cables, simplifies construction and maintenance, extends the lifespan of cables, facilitates management and identification, enhances electromagnetic shielding, and meets aesthetic and environmental requirements.

[0125] This embodiment provides an implementation method for a tightening shaft device: Refer to... Figures 16 to 20 The tightening shaft device includes:

[0126] Tighten power output component 12-1;

[0127] The first piston chamber is connected to the output end of the tightening power output component 12-1. The first piston chamber is connected to a plurality of first piston rods 12-8. The output directions of the first piston rods 12-8 are the same, and the first piston rods 12-8 are arranged around the output end of the tightening power output component 12-1.

[0128] The first piston sleeve 12-18 is annular. The first surface of the first piston sleeve 12-18 is connected to the end of the first piston rod 12-8 that extends out of the first piston cavity. The second surface of the first piston sleeve 12-18 is provided with a plurality of first grooves 12-19, and the groove walls of the first grooves 12-19 are dam-shaped.

[0129] The fixed sleeve 12-14 is annular and is set on the bushing 12-21. The outer wall of the fixed sleeve 12-14 is provided with several rotating shafts. The rotating shafts are provided with rotating wheels 12-9 that can rotate freely around them. The rotating wheels 12-9 can be accommodated in the first groove 12-19 of the piston sleeve 12-18.

[0130] Tighten shaft 12-20, which is connected inside fixed sleeve 12-14;

[0131] and a first connecting plate 12-12, which is connected to the piston cavity;

[0132] The second connecting plate 12-11 is connected to the fixed sleeve 12-14. The first connecting plate 12-12 and the second connecting plate 12-11 are connected by the first connecting rod 12-10. The first connecting rod 12-10 is allowed to rotate between the first connecting plate 12-12 and the second connecting plate 12-11.

[0133] In use, the first piston rod 12-8 moves by inflating and deflating air, similar to the movement of a spring. When the first robotic arm 10 goes to identify the cap, the first piston rod 12-8 moves to the appropriate position at the same time, giving the tightening shaft device greater flexibility and precision, improving the success rate of cap identification, and providing a certain buffer between the tightening shaft and the bolt.

[0134] When bolts or nuts are tightened, they generate a reaction force that prevents the tightening shaft from rotating. To overcome this reaction force, the tightening shaft needs a reaction arm to provide support. In this embodiment, the tightening shaft 12-20 of the tightening shaft device 12 is connected to a reaction arm 12-3 via a third connecting plate 12-4. After the tightening shaft 12-20 tightens the bolt 200 at a certain position and outputs torque, the reaction arm 12-3 applies pressure to bolts at other positions.

[0135] A cylinder 12-5 is also installed on the first connecting plate 12-12. The output end of the cylinder 12-5 is connected to the first piston sleeve 12-8 through the second connecting rod 12-13. The second connecting rod 12-13 is allowed to rotate between the output end of the cylinder 12-5 and the first piston sleeve 12-8.

[0136] When the tightening shaft 12-20 is working, the reaction arm 12-3 engages with the surrounding bolts to generate a reaction force on the tightening shaft 12-20. When the tightening is finished, the cylinder 12-5 retracts to disengage the reaction arm 12-3 from the working state and return it to its initial position or to perform the disassembly process.

[0137] The end of the first robotic arm 10 is connected to the tightening shaft device 12 via the extension 12-7 on the first connecting plate 12-12.

[0138] In practice, an outer shell 12-6 is provided to protect the first piston sleeve 12-18 and the fixed sleeve 12-14, etc.

[0139] In this embodiment, an end image acquisition device 12-2 is also provided on the outer casing 12-6 to acquire images of the flange surface for easy positioning.

[0140] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this technical solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this technical solution.

[0141] In this technical solution, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this technical solution according to the specific circumstances.

[0142] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present technical solution. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0143] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A bolt tensioning system for mounting pitch bearings to wind turbine hubs, characterized in that, Include: The second robotic arm has a tensioner installed at its end. The tensioner and the end of the second robotic arm are mechanically connected, electrically connected, pneumatically connected, and connected to a liquid pipeline through a quick-change mechanism. The rotary table has a degree of freedom to rotate about its own vertical direction, and the base of the second robotic arm is mounted on the rotary table; A lifting platform has a degree of freedom to move in the vertical direction, and the rotary table is mounted on the lifting platform; The base frame, and the lifting platform moves up and down along the vertical track on the base frame; The second rotary worktable has a degree of freedom to rotate around its own vertical direction, and the wind turbine hub is fixed on the second rotary worktable; The bolts on the wind turbine hub that mount the pitch bearing are stretched using the tensioner mounted on the second robotic arm. The tensioner's tension rod has a spring structure for forward and backward movement and left and right movement, and the tension head has axial floating and a small amount of radial floating to facilitate engagement between the tension head and the bolt. The tensioner is equipped with a position sensing plate and a first sensor at a first position. When the position sensing plate causes the first sensor to receive an entry signal, it indicates that the bolt is screwed in. A second sensor is also equipped at a second position. When the position sensing plate causes the second sensor to receive an entry signal, it indicates that the bolt is unscrewed. The quick-change mechanism includes: The main disk is installed at the end of the second robotic arm. The lower end of the main disk is a locking end with a cylindrical outer circumferential surface. Several circular through holes are arranged circumferentially on the cylindrical outer circumferential surface. The circular through holes are connected to the second piston chamber. The bottom of the second piston chamber is sealed by steel balls. The diameter of the circular through holes on the cylindrical outer circumferential surface is smaller than the diameter of the steel balls. The tool disc has a steel ball retaining ring installed in the central through hole in its middle part. The steel ball retaining ring has several steel ball receiving chambers. The positions of the steel ball receiving chambers correspond to the positions of several circular through holes arranged on the outer circumference of the cylinder at the locking end of the main disc. The diameter of the opening of the steel ball receiving chamber is equal to the diameter of the circular through hole on the outer circumference of the cylinder. In terms of pneumatics, the steel ball, as part of the second piston chamber, is driven by compressed air to be squeezed out and locked with the steel ball retainer of the tool disc, thereby locking the tool disc with the main disc; when it is necessary to release, the second piston chamber depressurizes, the steel ball retracts, and the main disc and the tool disc separate, so that the quick-change mechanism allows the tool to be changed within a few seconds.

2. The bolt tensioning system according to claim 1, characterized in that, An air inlet is provided on the main plate, and the air inlet is connected to the second piston chamber.

3. The bolt tensioning system according to claim 1, characterized in that, The stretcher is connected to the tool disk via a fourth connecting plate; The fourth connecting plate has two ears, and positioning holes are provided on the two ears.

4. The bolt tensioning system according to claim 1, characterized in that, The vertical track is provided on the front side of the base frame, and a counterweight is provided on the rear side of the base frame, with the counterweight fixed to the upper part of the base frame.

5. The bolt tensioning system according to claim 1, characterized in that, A second robotic arm base is mounted on the rotary table, the rear of the second robotic arm base is connected to the rotary table, and the second robotic arm is mounted on the front of the rotary table.

6. The bolt tensioning system according to claim 1, characterized in that, The end of the second robotic arm is equipped with an image acquisition structure, which is used to acquire images of the wind turbine hub.

7. The bolt tensioning system according to claim 1, characterized in that, The second rotary worktable is provided with several support plates whose length direction is radial to the second rotary worktable. The support plates are arranged in groups of two, for a total of three groups of support plates. Each group of support plates is symmetrically distributed with respect to the center of the second rotary worktable.

8. The bolt tensioning system according to claim 1, characterized in that, Two second robotic arms are installed, with the base of the second robotic arm being equal to the shortest distance between the rotation center of the second rotary table.

9. The bolt tensioning system according to claim 1, characterized in that, The second rotary table is mounted on a horizontal track, which extends from far to near the second robotic arm.

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