Bolting system for mounting pitch bearings on wind turbine hubs

Abstract

The present application provides a bolt tightening system for installing a variable pitch bearing on a wind turbine hub, comprising a truss, the truss having a plurality of beams; a first mechanical arm, the base of the first mechanical arm being mounted on the beam, a tightening shaft device being mounted at the end of the first mechanical arm; and a first rotary table having the freedom to rotate around its own vertical axis. The tightening system provided by the present application uses the first mechanical arm to drive the tightening shaft device to move to the position of the bolt that needs to be tightened, and then the tightening shaft device completes the bolt tightening, thereby improving production efficiency and production safety. In addition, the tightening system utilizes the upper space to avoid interference with ground equipment and reduce the risk of collision quality.

Description

Technical Field

[0001] The present application belongs to the technical field of wind turbine manufacturing, and in particular, relates to a bolt tightening system for installing a variable pitch bearing on a wind turbine hub. Background Art

[0002] With the continuous advancement of wind power technology, the efficiency of wind turbines has been continuously improved, making wind power generation more competitive in the energy field. Technological progress has provided strong support for the development of wind power generation. Independent variable pitch technology has gradually been widely used. As a key component of this technology, independent variable pitch bearings can achieve three-dimensional rotation, have stronger control and driving force, and can make the force conditions of each area of ​​the wind turbine blade consistent, thus improving the performance and efficiency of wind turbines.

[0003] In the prior art, after the variable pitch bearing is installed on the hub of the wind turbine, it is usually necessary for the operator to tighten the bolts with a handheld torque wrench. During work, the operator climbs up the auxiliary ladder holding a torque wrench to tighten the bolts one by one. The hub has three flange surfaces evenly distributed, and each flange surface has more than 120 bolts. The operator needs to move the auxiliary ladder three times to each flange surface for tightening, which is extremely inconvenient, with a large workload, low work efficiency, and the risk of bumping and quality. There are also major safety hazards and missed bolts to tighten.

[0004] Therefore, there is an urgent need in the prior art for a device that can automatically tighten the hub pitch bearing to improve production efficiency, reduce the risk of collision and quality, and improve production safety. Summary of the invention

[0005] The present application firstly provides a bolt tightening system for installing a variable pitch bearing on a wind turbine hub, which can automatically complete the bolt tightening of the variable pitch bearing on three flange surfaces of the wind turbine hub.

[0006] Among them, the bolt tightening system for installing the pitch bearing on the wind turbine hub includes:

[0007] A truss having a plurality of cross beams;

[0008] A first mechanical arm, wherein a base of the first mechanical arm is mounted on the crossbeam, and a tightening shaft device is mounted at the end of the first mechanical arm;

[0009] The first rotary table has the freedom to rotate around its own vertical axis.

[0010] In one embodiment, a plurality of the beams arranged in parallel are provided on the truss;

[0011] One or two first mechanical arms are arranged on each of the crossbeams.

[0012] In one embodiment, a first robotic arm track is disposed on the crossbeam, a slider is disposed on the first robotic arm track, and a first base of the first robotic arm is connected to the slider.

[0013] In one embodiment, the tightening shaft device comprises:

[0014] Tighten the power take-off components;

[0015] A first piston chamber connected to the output end of the tightening power output component, the first piston chamber being connected to a plurality of first piston rods, the output directions of the first piston rods being the same, and the first piston rods being arranged around the output end of the tightening power output component;

[0016] A first piston sleeve is annular, a first surface of the first piston sleeve is connected to an end of the first piston rod extending out of the first piston cavity, a second surface of the first piston sleeve is provided with a plurality of first grooves, and a groove wall of the first groove is dam-shaped;

[0017] The fixing sleeve is annular, and a plurality of rotating shafts are arranged on the outer wall of the fixing sleeve. The rotating shafts are provided with rotating wheels which can rotate freely around the rotating shafts, and the rotating wheels can be accommodated in the first groove of the piston sleeve;

[0018] A tightening shaft, the tightening shaft being connected in the fixing sleeve;

[0019] and a first connecting plate, wherein the first connecting plate is connected to the piston cavity;

[0020] The second connecting plate is connected to the fixing sleeve. The first connecting plate and the second connecting plate are connected via a first connecting rod. The first connecting rod and the first connecting plate and the second connecting plate are allowed to rotate.

[0021] In one embodiment, a reaction arm is connected to the tightening shaft of the tightening shaft device via a third connecting plate. After the tightening shaft recognizes a bolt at a certain position and outputs torque, the reaction arm applies pressure to bolts at other positions.

[0022] In one embodiment, a cylinder is further mounted on the first connecting plate, and an output end of the cylinder is connected to the first piston sleeve via a second connecting rod, and the second connecting rod is allowed to rotate among the output end of the cylinder and the first piston sleeve.

[0023] In one embodiment, the bolt tightening system further comprises a bolt tensioning system, and the bolt tensioning system comprises:

[0024] A second robotic arm, a stretcher is installed at the end of the second robotic arm, and the stretcher and the end of the second robotic arm are connected mechanically, electrically, gas-line, and liquid-line-connected via a quick-change mechanism;

[0025] A rotating platform, having the degree of freedom to rotate around its own vertical direction, and the base of the second mechanical arm is mounted on the rotating platform;

[0026] A lifting platform having the freedom to move in a vertical direction, the rotating platform being mounted on the lifting platform;

[0027] A base frame, wherein the lifting platform is lifted and lowered along a vertical track on the base frame;

[0028] A second rotary worktable has the freedom to rotate around its own vertical direction, and the wind turbine hub is fixed on the second rotary worktable;

[0029] The bolts for mounting the variable pitch bearing on the wind turbine hub are stretched by the stretcher installed on the second mechanical arm.

[0030] In one embodiment, the quick-change mechanism comprises:

[0031] A main plate is mounted at the end of the second mechanical arm, the lower end of the main plate is a locking end having a cylindrical outer circumferential surface, a plurality of circular through holes are arranged circumferentially on the cylindrical outer circumferential surface, the circular through holes are connected to the second piston cavity, the bottom of the second piston cavity is sealed by a steel ball, and the diameter of the circular through holes on the cylindrical outer circumferential surface is smaller than the diameter of the steel ball;

[0032] A tool disk, a steel ball retaining ring is arranged in the central through hole in the middle thereof, a plurality of steel ball accommodating chambers are arranged on the steel ball retaining ring, the positions of the steel ball accommodating chambers correspond to the positions of a plurality of circular through holes arranged on the cylindrical outer circumference of the locking end on the main disk, and the hatch diameter of the steel ball accommodating chambers is equal to the diameter of the circular through holes on the cylindrical outer circumference.

[0033] In one embodiment, two second robotic arms are provided, and the shortest distance between the base of the second robotic arm and the rotation center of the second rotary table is equal.

[0034] In one embodiment, the second rotary table is installed on a horizontal track, and the extension direction of the horizontal track is from far to near approaching the second robot arm.

[0035] The bolt tightening system provided by the present application for installing a variable pitch bearing on a wind turbine hub comprises a truss having a plurality of beams; a first mechanical arm, the base of which is mounted on the beams, and a tightening shaft device is mounted at the end of the first mechanical arm; and a first rotary table having the freedom to rotate around its own vertical axis. The tightening system provided by the present application uses the first mechanical arm to drive the tightening shaft device to move to the position of the bolt that needs to be tightened, and then the tightening shaft device completes the bolt tightening, thereby improving production efficiency and production safety. In addition, the tightening system utilizes the upper space to avoid interference with ground equipment and reduce the risk of collision quality.

[0036] For further elaboration, various aspects and advantages of the embodiments disclosed in the present application will become apparent in the following description or can be understood through the practice of the embodiments disclosed in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide further understanding of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the invention but do not constitute a limitation to the invention.

[0038] Figure 1 A schematic diagram of the structure of the bolt tensioning system provided in Example 1 of the present application;

[0039] Figure 2 This is a schematic diagram of the structure of the second mechanical arm in Example 1 of the present application;

[0040] Figure 3 This is a schematic diagram of the stretcher in Example 1 of the present application;

[0041] Figure 4 This is a schematic diagram of the structure of the quick-change mechanism in Example 1 of the present application;

[0042] Figure 5 This is a structural schematic diagram of the quick-change mechanism in Example 1 of the present application from another perspective;

[0043] Figure 6 This is a schematic diagram of a stretcher located on its tool support frame in Example 1 of the present application;

[0044] Figure 7 This is a schematic diagram of some structures such as a lifting platform and a base frame in Example 1 of the present application;

[0045] Figure 8 It is a schematic diagram of the rotating table and other parts of the structure in Example 1 of the present application;

[0046] Fig. 9 This is a schematic diagram of the structure of the second rotary table in Example 1 of the present application;

[0047] Fig.10 This is a schematic diagram of the connection between the marking gun and its material conveying system and the material feeding system in Example 1 of the present application;

[0048] Fig.11 This is a schematic diagram of the connection between the zinc spray gun and its conveying system and feeding system in Example 1 of the present application;

[0049] Fig.12 This is a schematic diagram of the structure of the base in Example 1 of the present application;

[0050] Fig.13 This is a schematic diagram of the tightening system in Example 1 of the present application;

[0051] Fig.14 It is a schematic diagram of structures such as a crossbeam and a slide table of a first robotic arm in Example 1 of the present application;

[0052] Fig.15 This is a schematic diagram of the structure of the first rotary table in Example 1 of the present application;

[0053] Fig.16 This is a schematic structural diagram of the tightening shaft device in Example 1 of the present application at a first viewing angle;

[0054] Fig.17 This is a schematic structural diagram of the tightening shaft device in Example 1 of the present application at a second viewing angle;

[0055] Fig.18 It is a schematic diagram of the first piston rod and other structures of the tightening shaft device in Example 1 of the present application;

[0056] Fig.19 It is a schematic structural diagram of the tightening shaft device in Example 1 of the present application at a third viewing angle;

[0057] Fig. 20 This is a schematic diagram of the working status of the tightening shaft device in Example 1 of the present application. DETAILED DESCRIPTION

[0058] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0059] Example 1

[0060] This embodiment provides a bolt tightening system for mounting a pitch bearing on a wind turbine hub, referring to Fig.13 As shown, including:

[0061] A truss 9, the truss 9 having a plurality of cross beams 9-1;

[0062] A first mechanical arm 10, wherein the base of the first mechanical arm 10 is mounted on the crossbeam 9-1, and a tightening shaft device is mounted at the end of the first mechanical arm 10;

[0063] The first rotary table 11 has the freedom to rotate around its own vertical axis.

[0064] During operation, the ground transport vehicle transports the wind turbine hub 100 and the hub bracket to the tightening station of the bolt tightening system, and loads the wind turbine hub 100 onto the first rotary workbench 11;

[0065] Then, the first mechanical arm 10 starts to tighten the bolts on one of the flange surfaces of the wind turbine hub 100, and then the first rotary table 11 rotates so that the bolts on another flange surface are located in the working space of the first mechanical arm 10, and then tightens the bolts on this flange surface until all the bolts on the three flange surfaces are tightened and qualified;

[0066] The ground transport vehicle transports the wind turbine hub 100 and the hub bracket out of the work station.

[0067] The image acquisition device installed at the end of the truss 9 or the first mechanical arm 10 can be used to acquire images of the first rotary table 11, and the acquired images can be processed and analyzed to determine the position of the first rotary table 11, so as to put the wind turbine hub 100 in the correct position on the first rotary table 11. The limiting tooling on the first rotary table 11 can also be used or used simultaneously to achieve accurate loading of the wind turbine hub 100.

[0068] In the prior art, overhead cranes are often used for loading materials, which is highly dangerous. In this embodiment, the first mechanical arm 10 is hoisted on the truss 9 to free up ground space, and a ground transport vehicle can be used to send the wind turbine hub 100 into or out of the workstation to avoid interference or collision with ground equipment.

[0069] The first mechanical arm 10 may also utilize visual guidance and laser ranging to take three photos of each flange surface of the wind turbine hub 100 to achieve accurate positioning of the bolts to be tightened.

[0070] Among them, the truss 9 has a leveling device to keep the equipment horizontal in various complex terrains or working environments, ensuring the stable operation and safety of the equipment. It is also equipped with ladders and guardrails to facilitate equipment inspection and daily maintenance.

[0071] Among them, the first rotary workbench 11 meets the needs of wheeled transport vehicle transportation and the use of wheels of different models and weights. It has 360° rotation and can be fixedly stopped at a specified position to achieve 120° rotation each time. The rotation is smooth and can meet both the overall control of the equipment and individual control.

[0072] In this embodiment, two parallel beams 9 - 1 are provided on the truss 9 ;

[0073] Two first robot arms 10 are arranged on a crossbeam 9 - 1 .

[0074] A first mechanical arm track 9-4 is arranged on another crossbeam 9-1, referring to Fig.14 A slider is arranged on the track 9-4, and the first base 9-5 of the first robot arm 10 is connected to the slider. The slider is driven by the slider driving motor 9-3 to move linearly on the first robot arm track 9-4.

[0075] In this embodiment, after the wind turbine hub 100 is loaded, the first mechanical arm 10 on the first mechanical arm track 9-4 moves to the center of the wind turbine hub 100. After positioning, the three first mechanical arms 10 start to tighten the bolts on each flange surface respectively, and the tightening method is diagonal tightening;

[0076] After all the bolts at the positions are tightened and qualified, the three first robot arms 10 are reset, and the first robot arms 10 on the first robot arm track 9-4 return to the zero position.

[0077] In this embodiment, a zero point marker 9-2 is provided at one end of the first robot rail 9-4.

[0078] 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 located at the zero position, leaving a loading channel, making the loading process smoother and the loading action simpler, and also avoiding collision between the wind turbine hub 100 and the bolt tightening system.

[0079] In this embodiment, the slider driving 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.

[0080] The first robot rail 9-4 is mounted on the truss 9, in a relatively protected position, and is not easily damaged or contaminated by the outside world. The maintenance method is simple, and only the wear of the slider and the guide groove needs to be checked regularly.

[0081] In order to meet the lubrication requirements of the transmission system of the first robot arm rail 9-4 and its slider, an automatic lubrication device 9-6 is provided in this embodiment, and the automatic lubrication device 9-6 includes an oil reservoir, an oil supply system, a control system, accessories and interfaces. The automatic lubrication device 9-6 can supply oil regularly and quantitatively to achieve automatic lubrication. It mainly utilizes the principle of pressure and flow control, and realizes automatic refueling and lubrication through a precise mechanical structure and an electronic control system. There is no need for manual maintenance of the equipment at height to ensure continuous and stable operation, reducing the probability of failure. It reduces dependence on workers and does not waste lubricating oil.

[0082] The first rotary table 11 is arranged on the wheel hub bracket, Fig.15, a hub bracket leveling device 11-1 is set on the ground. The hub bracket leveling device 11-1 ensures the horizontal state of the measuring equipment, improves the accuracy and reliability of the measurement, and makes the equipment run safely and stably. A hub bracket limiting device 11-2 is set on the hub bracket leveling device 11-1 to ensure that the accuracy of each wind turbine hub material is within the error range. The hub bracket limiting device 11-2 provides a guiding and limiting function for the hub bracket. Nylon pads are also set on the hub bracket. Nylon material is selected to avoid hard collision and prevent the wind turbine hub from being scratched. Nylon has high mechanical strength, good toughness and high compressive strength. Fatigue resistance, the product can maintain the original mechanical strength after repeated bending. A positioning pin is set on the hub bracket to fix the wind turbine hub, so that the relative position of the hub and the bracket remains consistent and repeatable, and the precise positioning of the wind turbine hub is achieved.

[0083] In this embodiment, a wiring hole is reserved in the truss 9, and no external drag chain is required, and the appearance is uniform. It can protect wires and cables, simplify construction and maintenance, and also increase the service life of wires and cables, facilitate management and identification, enhance electromagnetic shielding, and meet aesthetic and environmental protection requirements.

[0084] This embodiment provides an implementation method of a tightening shaft device: Figures 16 to 20 , the tightening shaft device comprises:

[0085] Tighten the power output component 12-1;

[0086] A first piston chamber connected to the output end of the tightening power output component 12-1, wherein 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;

[0087] 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 extending 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;

[0088] The fixed sleeve 12-14 is annular and is arranged on the shaft sleeve 12-21. A plurality of rotating shafts are arranged on the outer wall of the fixed sleeve 12-14. The rotating shafts are provided with rotating wheels 12-9 which can rotate freely around the rotating shafts. The rotating wheels 12-9 can be accommodated in the first groove 12-19 of the piston sleeve 12-18.

[0089] A tightening shaft 12-20, wherein the tightening shaft 12-20 is connected to the fixing sleeve 12-14;

[0090] and a first connecting plate 12-12, the first connecting plate 12-12 being connected to the piston cavity;

[0091] The second connecting plate 12-11 is connected to the fixing sleeve 12-14. The first connecting plate 12-12 and the second connecting plate 12-11 are connected via the first connecting rod 12-10. The first connecting rod 12-10 and the first connecting plate 12-12 and the second connecting plate 12-11 are allowed to rotate.

[0092] When in use, the first piston rod 12-8 moves by inflation and exhaust, similar to the movement of a spring. When the first robotic arm 10 recognizes the cap, the first piston rod 12-8 moves to the appropriate position at the same time, so that the tightening shaft device has higher flexibility and precision, improves the success rate of cap recognition, and provides a certain buffer for the tightening shaft and bolt.

[0093] When the bolts or nuts are tightened, they will generate a reaction force, which will prevent the rotation of the tightening shaft. In order to overcome the reaction force, the tightening shaft needs a reaction force arm to provide support. In this embodiment, the tightening shaft 12-20 of the tightening shaft device 12 is connected to the reaction force arm 12-3 through the third connecting plate 12-4. After the tightening shaft 12-20 recognizes the bolt 200 at a certain position and outputs torque, the reaction force arm 12-3 applies pressure to the bolts at other positions.

[0094] A cylinder 12-5 is also mounted on the first connecting plate 12-12. The output end of the cylinder 12-5 is connected to the first piston sleeve 12-8 via a second connecting rod 12-13. The second connecting rod 12-13 and the output end of the cylinder 12-5 and the first piston sleeve 12-8 are allowed to rotate.

[0095] When the tightening shaft 12-20 is working, the reaction arm 12-3 is clamped to the surrounding bolts to cope with the reaction force generated by the tightening shaft 12-20. When the tightening is completed, the cylinder 12-5 retracts to separate the reaction arm 12-3 from the working state and returns it to the initial position or performs the disassembly process.

[0096] The end of the first robot arm 10 is connected to the tightening shaft device 12 through the extension piece 12 - 7 on the first connecting plate 12 - 12 .

[0097] During implementation, a housing 12-6 is provided to protect structures such as the first piston sleeve 12-18 and the fixed sleeve 12-14.

[0098] In this embodiment, a terminal image acquisition device 12-2 is also provided on the housing 12-6 for acquiring an image of the flange surface to facilitate positioning.

[0099] In this embodiment, the bolt tightening system also includes a bolt tensioning system. Figures 1 to 3 and Figure 7 , the bolt tensioning system comprises:

[0100] A second robotic arm 4, a stretcher 5 is installed at the end of the second robotic arm 4, and the stretcher 5 and the end of the second robotic arm 4 are connected mechanically, electrically, gas-line, and liquid-line-connected via a quick-change mechanism 4-2;

[0101] The rotating platform 3 has the freedom to rotate around its own vertical direction, and the base of the second mechanical arm 4 is installed on the rotating platform 3;

[0102] The lifting platform 2-2 has the freedom to move in the vertical direction, and the rotating platform 3 is installed on the lifting platform 2-2;

[0103] The base frame 1 and the lifting platform 2-2 are lifted and lowered along the vertical track on the base frame 1;

[0104] The second rotary table 6 has the freedom to rotate around its own vertical direction, and the wind turbine hub 100 is fixed on the second rotary table 6;

[0105] The bolts for mounting the pitch bearing on the wind turbine hub 100 are stretched by the stretcher 5 installed on the second mechanical arm 4 .

[0106] The second mechanical arm 4 moves the tensioner 5 to the working position to stretch multiple bolts on one flange surface, and then the second rotary table 6 drives the wind turbine hub 100 to rotate to another flange surface to stretch the bolts until the bolts on the three flange surfaces are stretched. The stretching process is automatically completed by the system without manual operation, thus saving manpower and time.

[0107] Traditional manual stretching often needs to be done at high places or in narrow spaces, which can easily cause danger. In this embodiment, the stretching can be done by a mechanical arm within a safe range, thereby improving safety.

[0108] Traditional manual stretching will affect the uniformity and quality of the stretching force due to human factors, while the stretcher can accurately control the stretching force to ensure that each bolt can reach the corresponding stretching force, thereby ensuring the quality of the bolt stretching.

[0109] The stretching rod of the stretcher used in this embodiment has a spring structure for both forward and backward movement and left and right movement. The stretching head has axial floating and a small amount of radial floating, which facilitates the engagement of the stretching head with the bolt. Prevents the rigid contact phenomenon between the fastening shaft and the bolt due to slight eccentricity or verticality deviation, so that the fastening machine can move smoothly during the process of fastening the bolt. The axial floating and radial floating structures facilitate the engagement of the stretching head with the bolt, ensuring smooth movement during the process of fastening the bolt. The stretching machine has automatic introduction and withdrawal functions, and can automatically tighten the nut after the bolt is stretched.

[0110] Reference Figure 3A position sensing plate 5-5 is provided on the tensioner, and a first sensor 5-6 is provided at a first position. When the position sensing plate 5-5 causes the first sensor 5-6 to have an entry signal, it indicates that the bolt is screwed into place; and a second sensor 5-7 is provided at a second position. When the position sensing plate 5-5 causes the second sensor 5-7 to have an entry signal, it indicates that the bolt is screwed out into place.

[0111] The second robot arm 4 is moved up and down as a whole through the lifting platform 2-2.

[0112] The rotating platform 3 enables the second mechanical arm 4 to rotate as a whole.

[0113] The above technical solution realizes a highly flexible design, which is compatible with the automated stretching of wind turbine hub bolts of different specifications and meets the needs of flexible production.

[0114] This embodiment provides an implementation method of the quick change mechanism, referring to Figure 4 and 5 , quick change mechanism quick change mechanism 4-2 includes:

[0115] A main plate 4-21 is mounted at the end 8-1 of the second mechanical arm 4. The lower end of the main plate 4-21 is a locking end 4-23 having a cylindrical outer circumferential surface. A plurality of 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 cavity. The bottom of the second piston cavity is sealed by a steel ball 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 ball 4-27.

[0116] The tool disk 4-24 has a steel ball retaining ring disposed in the central through hole 4-25 in the middle thereof, and a plurality of steel ball accommodating chambers are disposed on the steel ball retaining ring, and the positions of the steel ball accommodating chambers correspond to the positions of a plurality of circular through holes 4-22 arranged on the cylindrical outer circumference of the locking end 4-23 on the main disk 4-21, and the hatch diameter of the steel ball accommodating chambers is equal to the diameter of the circular through holes 4-22 on the cylindrical outer circumference.

[0117] A plurality of air inlets 4-26 are provided on the main disk 4-21, and the air inlets 4-26 are connected to the second piston chamber.

[0118] The quick-change mechanism is locked and released by pneumatic control: in terms of pneumatics, the steel ball 4-27 is a part of the second piston chamber. The compressed air drives the steel ball 4-27 to squeeze out and clamp the steel ball clamp ring of the tool tray 4-24, so that the main tray 4-21 locks the tool tray 4-2. When it is necessary to release, the second piston chamber is decompressed, the steel ball 4-27 is retracted, and the main tray 4-21 and the tool tray 4-2 are separated, so that the quick-change mechanism allows the tool to be replaced within seconds.

[0119] In addition, the quick-change mechanism can quickly realize the electrical, gas and liquid connections between the robot arm side and the tool (tensioner) side, which enables different end-effector tools to share the robot's energy and signals.

[0120] Reference Figure 6 , the stretcher 5 is connected to the tool tray 4-2 through the fourth connecting plate 5-2;

[0121] The fourth connecting plate 5 - 2 has two ears, and positioning holes 5 - 3 are arranged on the two ears.

[0122] The stretcher 5 is placed on the stretcher spare bracket 5-4 through the two ears of the fourth connecting plate 5-2, and the position of the stretcher 5 on the stretcher spare bracket 5-4 is limited by the positioning hole 5-3, so as to facilitate the rapid positioning of the second robot arm 4.

[0123] The main function of the tensioner spare bracket 5-4 is to place tensioners of various specifications to ensure that it can adapt to bolts on wind turbine hubs of various sizes, and to replace the tensioner in a quick-change manner through a quick-change mechanism.

[0124] Reference Figure 7 A vertical support frame 2-1 is arranged on the base frame 1, the vertical track is arranged on the front side of the vertical support frame 2-1, a counterweight block 2-4 is arranged on the rear side of the vertical support frame 2-1, and the counterweight block 2-4 is fixed on the upper part of the vertical support frame 2-1. A vertical lifting motor 2-3 for driving the lifting platform 2-2 to lift is installed on the top of the vertical support frame 2-1.

[0125] The 2-4 counterweight balance system effectively improves the load capacity and reduces the requirements for the transmission system and the lifting motor. It has the advantages of improving system accuracy, reducing the inertial force required in the system, extending the service life of the system, and requiring no additional power system, simple installation and low maintenance costs.

[0126] Reference Figure 8 A second robotic arm base 3-3 is installed on the rotating platform 3, the rear portion 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 in front of the turntable 3-2.

[0127] Reference Figure 6 The end of the second mechanical arm 4 is provided with an image acquisition structure 4-3, and the image acquisition structure 4-3 is used to acquire an image of the wind turbine hub 100. The mechanical arm 4 can be guided by the image acquisition structure 4-3 to drive the stretcher to perform stretching and zinc spraying and marking.

[0128] In addition to the image acquisition structure 4-3, it also includes a laser ranging system and a precise guidance system to identify the bolt position. The accuracy of the bolt holes of the variable pitch bearing is guaranteed by the laser ranging system and the precise guidance system.

[0129] Reference Fig. 9 A plurality of support plates 6-2 are arranged on the second rotary worktable 6, whose length direction is the radial direction of the second rotary worktable 6. The support plates 6-2 are arranged in groups of two, with a total of three groups of support plates 6-2. Each group of support plates 6-2 is symmetrically distributed relative to the center of the second rotary worktable 6.

[0130] The second rotary table 6 adopts a box-type structure and is supported on the body by a combined annular bearing. The precision of its rotary motion is ensured by the precision tapered roller bearing and angular contact bearing installed on the central axis of the body, and improves the stability of the table's operation and its ability to withstand eccentric loads. The main function is to achieve precise rotation of the wind turbine hub to ensure three-sided stretching and zinc spraying and marking.

[0131] In this embodiment, refer to Fig.10 Schematic diagram of the connection between the marking gun 8-3 and its conveying system 8-2 and the feeding system 8-1 Fig.11 Schematic diagram of the connection between the zinc spray gun 8-4 and its conveying system 8-2 and the feeding system 8-2. The zinc spraying and marking devices use diaphragm pumps to transport the marking liquid into the pipeline. The marking gun 8-3 and zinc spray gun 8-4 are used to spray zinc and mark the bolts respectively. The feeding tank is equipped with a pneumatic agitator.

[0132] 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.

[0133] In this embodiment, the second rotary table 6 is installed on a horizontal track, and the extension direction of the horizontal track is from far to near approaching the second robot arm 4.

[0134] In this embodiment, refer to Fig.12 A buffer device 1-2 is arranged on the upper surface of the base 1 to prevent the second robot arm from receiving sudden vibration; and a foot 1-3 is arranged on the lower surface for fixing to the working ground.

[0135] In this embodiment, the hydraulic pump station that provides pressure for the tensioner etc. is equipped with a pressure control valve and a pressure sensor. When the hydraulic pump is turned on, its output pressure can be adjusted through the PLC.

[0136] When working:

[0137] Hoisting the wind turbine hub and loading it onto the second rotary table 6;

[0138] Signal detection wind turbine hub is in place;

[0139] The image acquisition structure set on the second robot arm recognizes the position, measures the distance by laser, and visually determines the position;

[0140] The tensioner at the end of the second robotic arm stretches the bolt;

[0141] After the A-side flange is stretched, the second rotary table rotates 120° to the B-side flange;

[0142] The image acquisition structure set on the second robot arm recognizes the position, measures the distance by laser, and visually determines the position;

[0143] The tensioner at the end of the second robotic arm stretches the bolt;

[0144] Repeat the above steps;

[0145] Then the bolts are zinc sprayed and marked, and the above steps are repeated;

[0146] Repeat the above steps to complete the functions of automatic bolt stretching and zinc spray marking.

[0147] The bolt tensioning system is mainly used for the connection between the variable pitch bearing and the wind turbine hub in the generator set, and includes a base part, a mechanical arm lifting, a rotating shaft, a mechanical arm, a tensioner, a second rotary table of a heavy-duty servo, a zinc spraying and marking device, a tensioner spare bracket, a visual system, etc. It has the functions of visual recognition, detection analysis, feedback, etc., and meets the needs of automatic tensioning and zinc spraying and marking of bolts of different positions and models.

[0148] In the stretching system, after the bolts are stretched, the wind turbine hub 100 is transported to the tightening system for final tightening.

[0149] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the technical solution.

[0150] In this technical solution, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this technical solution can be understood according to specific circumstances.

[0151] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present technical solution. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other.

[0152] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A bolt tightening system for mounting a pitch bearing on a wind turbine hub, characterized in that: Include: A truss having a plurality of cross beams; A first mechanical arm, wherein a base of the first mechanical arm is mounted on the crossbeam, and a tightening shaft device is mounted at the end of the first mechanical arm; The first rotary table has the freedom to rotate around its own vertical axis; Wherein, the tightening shaft device comprises: Tighten the power take-off components; A first piston chamber connected to the output end of the tightening power output component, the first piston chamber being connected to a plurality of first piston rods, the output directions of the first piston rods being the same, and the first piston rods being arranged around the output end of the tightening power output component; A first piston sleeve is annular, a first surface of the first piston sleeve is connected to an end of the first piston rod extending out of the first piston chamber, a second surface of the first piston sleeve is provided with a plurality of first grooves, and the groove walls of the first grooves are dam-shaped; The fixing sleeve is annular, and a plurality of rotating shafts are arranged on the outer wall of the fixing sleeve. The rotating shafts are provided with rotating wheels which can rotate freely around the rotating shafts, and the rotating wheels can be accommodated in the first groove of the piston sleeve; A tightening shaft, the tightening shaft being connected in the fixing sleeve; and a first connecting plate connected to the first piston chamber; A second connecting plate connected to the fixing sleeve, wherein the first connecting plate and the second connecting plate are connected via a first connecting rod, and the first connecting rod and the first connecting plate and the second connecting plate are allowed to rotate; The tightening shaft of the tightening shaft device is connected to a reaction arm via a third connecting plate. After the tightening shaft recognizes a bolt at a certain position and outputs torque, the reaction arm applies pressure to bolts at other positions.

2. The bolt tightening system according to claim 1, characterized in that: A plurality of parallelly arranged cross beams are provided on the truss; One or two first mechanical arms are arranged on each of the crossbeams.

3. The bolt tightening system according to claim 1, characterized in that: A first mechanical arm track is arranged on the crossbeam, a slider is arranged on the first mechanical arm track, and a first base of the first mechanical arm is connected to the slider.

4. The bolt tightening system according to claim 1, characterized in that: A cylinder is also installed on the first connecting plate, and the output end of the cylinder is connected to the first piston sleeve through a second connecting rod, and the second connecting rod and the output end of the cylinder and the first piston sleeve are allowed to rotate.

5. The bolt tightening system according to claim 1, characterized in that: Also included is a bolt tensioning system, the bolt tensioning system comprising: A second robotic arm, a stretcher is installed at the end of the second robotic arm, and the stretcher and the end of the second robotic arm are connected mechanically, electrically, gas-line, and liquid-line-connected via a quick-change mechanism; A rotating platform, having the degree of freedom to rotate around its own vertical direction, and the base of the second mechanical arm is mounted on the rotating platform; A lifting platform having the freedom to move in a vertical direction, the rotating platform being mounted on the lifting platform; A base frame, wherein the lifting platform is lifted and lowered along a vertical track on the base frame; A second rotary worktable has the freedom to rotate around its own vertical direction, and the wind turbine hub is fixed on the second rotary worktable; The bolts for mounting the variable pitch bearing on the wind turbine hub are stretched by the stretcher installed on the second mechanical arm.

6. The bolt tightening system according to claim 5, characterized in that: The quick-change mechanism comprises: A main plate is mounted at the end of the second mechanical arm, the lower end of the main plate is a locking end having a cylindrical outer circumferential surface, a plurality of circular through holes are arranged circumferentially on the cylindrical outer circumferential surface, the circular through holes are connected to the second piston cavity, the bottom of the second piston cavity is sealed by a steel ball, and the diameter of the circular through holes on the cylindrical outer circumferential surface is smaller than the diameter of the steel ball; A tool disk, a steel ball retaining ring is arranged in the central through hole in the middle thereof, a plurality of steel ball accommodating chambers are arranged on the steel ball retaining ring, the positions of the steel ball accommodating chambers correspond to the positions of a plurality of circular through holes arranged on the cylindrical outer circumference of the locking end on the main disk, and the hatch diameter of the steel ball accommodating chambers is equal to the diameter of the circular through holes on the cylindrical outer circumference.

7. The bolt tightening system according to claim 5, characterized in that: Two second robotic arms are provided, and the shortest distance between the base of the second robotic arm and the rotation center of the second rotary table is equal.

8. The bolt tightening system according to claim 5, characterized in that: The second rotary table is installed on a horizontal track, and the extension direction of the horizontal track is from far to near approaching the second robot arm.

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