Wind power rotary support intelligent hanging bracket robot

Abstract

The invention relates to the technical field of wind power equipment installation, in particular to a wind power rotary support intelligent hanging bracket robot. Comprising a lifting beam device, a driving mechanism, a guide assembly, a lifting arm device, a rotating arm device, a rotating arm structure, a clamp device, a first pressure sensor, an angle sensor, a second pressure sensor and a single chip microcomputer, the two suspension arm devices are symmetrically installed on the two sides of the guide assembly respectively, the driving mechanism is used for driving the suspension arm devices to move transversely, each suspension arm device is provided with the corresponding rotating arm device, each rotating arm device is connected with the corresponding rotating arm structure, and the two ends of each rotating arm structure are provided with the clamp devices respectively. According to the multi-point flexible clamping device, by arranging the double-side synchronous driving suspension arm device, the rotatable rotating arm structure and the L-shaped clamping jaw, transverse and longitudinal multi-point flexible clamping of the wind power rotary support can be achieved, local stress concentration is effectively avoided, and the surface structure of a workpiece is protected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power equipment installation, in particular to a wind power rotary support intelligent hanging frame robot. BACKGROUND

[0002] With the development of wind turbine units towards high power and large scale, the precision and safety requirements of hoisting, overturning and assembling operations of wind power rotary support, as a key component connecting tower and nacelle, are increasingly improved. In actual operation process, the wind power rotary support is usually heavy and bulky, and needs to be installed and connected at different angles.

[0003] The traditional clamping device adopts rigid structure, lacks multi-point flexible clamping ability, and is easy to cause local stress concentration and damage the surface structure of the rotary support. At the same time, the overturning operation depends on the experience of workers to judge the clamping force and angle, and it is difficult to realize precise control, which is easy to cause safety accidents such as workpiece slipping and collision.

[0004] In addition, the existing lifting appliance generally lacks intelligent control system, and cannot monitor key parameters such as clamping pressure and overturning angle in real time, which leads to uncontrollable operation process and poor adaptability and stability. Especially in complex environments such as offshore wind power, due to space limitation and external disturbance, the traditional equipment is more difficult to meet the efficient and safe hoisting demand. SUMMARY

[0005] In order to overcome the shortcomings of unstable clamping, poor safety, low automation and lack of real-time monitoring and intelligent control function of the traditional wind power rotary support hoisting equipment, the present application provides a wind power rotary support intelligent hanging frame robot with intelligent clamping, posture adjustment and multi-point stable support functions.

[0006] The technical scheme is as follows: a wind power rotary support intelligent hanging frame robot, comprising a beam device, a driving mechanism, a guide assembly, an arm device, a rotating arm device, a rotating arm structure, a clamp device, a first pressure sensor, an angle sensor, a second pressure sensor and a single-chip microcomputer, the driving mechanism and the guide assembly are installed on the beam device, two arm devices are symmetrically installed on the two sides of the guide assembly, the driving mechanism is used for driving the arm device to move horizontally, the rotating arm device is installed on each arm device, the rotating arm structure is connected to the rotating arm device, the clamp device is installed at both ends of the rotating arm structure, the clamp device is used for clamping the wind power rotary support, the first pressure sensor and the angle sensor are installed on the rotating arm structure, the second pressure sensor is installed on the clamp device, the single-chip microcomputer is arranged on the arm device, and the single-chip microcomputer is electrically connected with the first pressure sensor, the second pressure sensor, the angle sensor, the driving mechanism, the rotating arm device and the clamp device.

[0007] As preferred, the hanging beam device comprises a cross-hanging beam, a hanging plate, a bearing seat fixing plate one and a bearing seat fixing plate two, the hanging plate is connected to the cross-hanging beam, the bearing seat fixing plate one and the bearing seat fixing plate two are connected to the lower part of the cross-hanging beam.

[0008] As preferred, the driving mechanism comprises a screw bearing seat, a cross screw, a speed reducer motor and a nut assembly, the screw bearing seat is installed at the bottom of the bearing seat fixing plate one and the bearing seat fixing plate two, two cross screws are connected to the screw bearing seat, one of the cross screws is right-handed thread, and the other is left-handed thread, the speed reducer motor is installed on the bearing seat fixing plate one, the output shaft of the speed reducer motor is connected to the cross screw, the nut assembly is threadedly connected to the cross screw, and the speed reducer motor is electrically connected to the single-chip microcomputer.

[0009] As preferred, the guide assembly comprises a guide rail and a sliding block, the guide rail is connected to the cross-hanging beam, and the sliding block is slidably arranged on the two sides of the cross-hanging beam.

[0010] As preferred, the hanging arm device comprises a hanging arm assembly, a round steel pipe and a support plate, the hanging arm assembly is installed on the sliding block, the hanging arm assembly is connected to the bottom of the nut assembly, the single-chip microcomputer is installed on one of the hanging arm assemblies, the round steel pipe is connected to the bottom of the hanging arm assembly, and the support plate is connected to the bottom of the round steel pipe.

[0011] As preferred, the rotating arm device comprises a first bearing, a rotating shaft, a connecting piece, a rotating arm hydraulic motor, an electromagnetic valve assembly and an oil pump motor group, the rotating shaft is movably installed in the round steel pipe through the first bearing, the rotating arm hydraulic motor is connected to one end of the round steel pipe, one end of the rotating shaft is connected to the rotating arm hydraulic motor, and the other end is connected to the connecting piece, the electromagnetic valve assembly is installed on the round steel pipe, the oil pump motor group is installed on the hanging arm assembly, the oil pump motor group, the electromagnetic valve assembly and the rotating arm hydraulic motor are sequentially connected and in fluid communication through pipelines, and the oil pump motor group and the electromagnetic valve assembly are electrically connected to the single-chip microcomputer.

[0012] As preferred, the rotating arm structure comprises a connecting arm, a mounting plate and a clamp fixing seat, the connecting arm is connected to the connecting piece, the connecting arm is connected to the clamp fixing seat through the mounting plate at both ends, a pad plate is connected to each clamp fixing seat, the first pressure sensor is connected to the side opposite to the connecting arm on the side, the angle sensor is installed in the middle of the connecting arm, and the first rubber pad is arranged on the pad plate.

[0013] As preferred, the clamp device comprises hydraulic cylinders, cylinder connecting seats, clamping jaws, pressing blocks, pins and connecting rods, the hydraulic cylinders are installed on the clamp fixing seats, the piston rods of the hydraulic cylinders are connected with the cylinder connecting seats, the clamping jaws are rotatably connected with the cylinder connecting seats on the upper and lower sides of the clamp fixing seats through the pins, one end of the clamping jaw is rotatably connected with the pressing block, and the other end of the clamping jaw is connected with the cylinder connecting seat through the connecting rod, the second pressure sensors are arranged on the sides of the upper and lower pressing blocks, respectively, second rubber pads are arranged on the sides of the two second pressure sensors, and the hydraulic cylinders are electrically connected with the single-chip microcomputer.

[0014] As preferred, the connecting arm is connected with a limiting rod, and the circular steel pipes are symmetrically provided with limiting blocks for blocking the limiting rod, and the limiting blocks and the limiting rod jointly act to ensure that the connecting arm can only rotate within a range of 180 degrees.

[0015] As preferred, the wireless communication module and the display screen control terminal are further included, the wireless communication module is arranged on the boom assembly, the single-chip microcomputer is in communication connection with the display screen control terminal through the wireless communication module, and data transmission and remote control are realized.

[0016] The present application has the following advantages: 1. The double-side synchronous driving boom device, the rotatable rotating arm structure and the L-shaped clamping jaw can realize multi-point flexible clamping of the wind power rotary support in the horizontal and vertical directions, effectively avoid local stress concentration and protect the surface structure of the workpiece; the rotating arm structure is driven by the rotating arm hydraulic motor to rotate around the vertical axis, and the angle sensor feedback information is combined to realize high-precision overturning control of the rotary support.

[0017] 2. The first pressure sensor, the second pressure sensor and the angle sensor are arranged for respectively monitoring the clamping pressure at the rotating arm structure and the pressing block and the workpiece overturning angle in real time, transmitting data to the single-chip microcomputer for processing, automatically adjusting the actions of the hydraulic cylinders and the speed reducer, ensuring constant clamping force and accurate overturning angle, and significantly improving the safety and controllability of the hoisting process.

[0018] 3. The wireless communication module and the display screen control terminal are connected, the user can real-time view the running state, pressure value, overturning angle and other information through the graphical interface, and can manually adjust the clamping force, rotating speed, boom spacing and other key parameters, greatly improving the flexibility and man-machine interaction experience of the system.

[0019] 4. The rotating arm hydraulic motor and hydraulic cylinder are provided with explosion-proof valves, which can realize mechanical self-locking when power failure or hydraulic system failure occurs, preventing the workpiece from falling off; at the same time, the maximum rotation angle of the rotating arm structure is limited to 180 degrees through the limiting block and limiting rod structure, preventing mechanical damage or safety hazards caused by excessive rotation. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0021] Figure 2 It is a schematic diagram of the overall structure of the present application.

[0022] Figure 3 It is a schematic diagram of the overall structure of the present application.

[0023] Figure 4 It is a schematic diagram of the overall structure of the present application.

[0024] Figure 5 It is a schematic diagram of the overall structure of the present application.

[0025] Figure 6 It is a schematic diagram of the overall structure of the present application.

[0026] Figure 7 It is a schematic diagram of the overall structure of the present application.

[0027] Figure 8 It is a schematic diagram of the overall structure of the present application.

[0028] Figure 9 It is a schematic diagram of the overall structure of the present application.

[0029] Figure 10 It is a schematic diagram of the overall structure of the present application.

[0030] Explanation of reference signs: 1_suspension beam device, 101_horizontal suspension beam, 102_suspension plate, 103_bearing seat fixing plate one, 104_bearing seat fixing plate two, 2_drive mechanism, 201_screw bearing seat, 202_horizontal screw, 203_coupling, 204_speed reduction motor, 205_screw nut, 206_screw nut seat, 207_small round nut, 3_guide assembly, 301_guide rail, 302_slipper, 4_suspension arm device, 401_suspension arm assembly, 402_round steel pipe, 403_strut plate, 5_turning arm device, 501_first bearing, 502_rotary shaft, 503_connection piece, 504_turning arm hydraulic motor, 505_solenoid valve assembly, 506_motor seat, 507_oil pump motor group, 6_rotary arm structure, 601_connection arm, 602_mounting plate, 603_clamp fixing seat, 604_splice plate, 605_first rubber pad, 7_clamp device, 701_hydraulic oil cylinder, 702_oil cylinder connecting seat, 703_clamping jaw, 704_pressing block, 705_pivot, 706_linkage, 707_second rubber pad, 8_limiting stopper, 9_limiting rod, 10_first pressure sensor, 11_angle sensor, 12_second pressure sensor, 13_display screen control terminal, 14_wireless communication module, 15_single-chip microcomputer, 100_wind power rotary support. DETAILED DESCRIPTION

[0031] The application will be further described below in conjunction with the drawings and examples.

[0032] In a specific embodiment, as Figures 1 to 10As shown, the wind power rotary support intelligent hanging frame robot provided in the present application comprises a hanging beam device 1, a driving mechanism 2, a guide assembly 3, a hanging arm device 4, a rotating arm device 5, a rotating arm structure 6, a clamp device 7, a first pressure sensor 10, an angle sensor 11, a second pressure sensor 12 and a single-chip microcomputer 15, the hanging beam device 1 serves as an upper support structure of the whole device, the lower part of the hanging beam device 1 is horizontally provided with the driving mechanism 2 and the guide assembly 3, two hanging arm devices 4 are symmetrically arranged on the left and right sides of the guide assembly 3 respectively, the driving mechanism 2 is used for synchronously driving the two hanging arm devices 4 to move horizontally along the guide assembly 3, the guide assembly 3 ensures the stability and guiding accuracy of the hanging arm devices 4 during movement, when the two hanging arm devices 4 move towards each other, the wind power rotary support 100 can be clamped, and when the two hanging arm devices 4 move reversely, the wind power rotary support 100 can be released, which is convenient for loading and unloading, the rotating arm device 5 is arranged at the bottom of each hanging arm device 4, the rotating arm structure 6 is connected to the rotating arm device 5, the rotating arm structure 6 can be driven to rotate around a vertical axis to adjust the spatial angle thereof, the rotating arm structure 6 is in the form of a rod structure, the two ends of the rotating arm structure 6 are respectively provided with the clamp device 7, the clamp device 7 is used for clamping different parts of the wind power rotary support 100 to realize multi-point stable clamping and improve the safety and reliability of the hoisting process, the first pressure sensor 10 and the angle sensor 11 are arranged on the rotating arm structure 6, in the present embodiment, the angle sensor 11 is an SN-3001-DIP type angle sensor, the second pressure sensor 12 is arranged on the clamp device 7, in the present embodiment, the first pressure sensor 10 and the second pressure sensor 12 are both BF350-3AA type resistance strain gauge pressure sensors, the single-chip microcomputer 15 is an STM32F103VET6 type single-chip microcomputer and serves as a core controller, the single-chip microcomputer 15 is electrically connected with the first pressure sensor 10, the second pressure sensor 12, the angle sensor 11, the driving mechanism 2, the rotating arm device 5 and the clamp device 7.

[0033] Further, the hanging beam device 1 comprises a horizontal hanging beam 101, a hanging plate 102, a bearing seat fixing plate one 103 and a bearing seat fixing plate two 104, the hanging plate 102 is connected to the middle of the top of the horizontal hanging beam 101, the bearing seat fixing plate one 103 is connected to the left and right of the bottom of the horizontal hanging beam 101, the bearing seat fixing plate two 104 is connected to the middle of the bottom of the horizontal hanging beam 101, the hanging plate 102, the bearing seat fixing plate one 103 and the bearing seat fixing plate two 104 are fixedly connected with the horizontal hanging beam 101 by welding.

[0034] Further, the driving mechanism 2 includes a screw bearing seat 201, a cross screw 202, a coupling 203, a speed reducer motor 204 and a nut assembly, the screw bearing seat 201 is installed on the bottom of the bearing seat fixed plate one 103 and the bearing seat fixed plate two 104, the cross screw 202 is installed between the screw bearing seat 201 on the bearing seat fixed plate one 103 and the screw bearing seat 201 on the bearing seat fixed plate two 104, the threads of the two cross screws 202 are designed in opposite directions, one is right-handed thread and the other is left-handed thread, the two cross screws 202 are connected through the coupling 203, the speed reducer motor 204 is installed on the bottom of the right bearing seat fixed plate one 103 to provide power for the driving mechanism 2, the output shaft of the speed reducer motor 204 is connected with the right end of the right cross screw 202, the nut assembly includes a screw nut 205, a nut seat 206 and a small round nut 207, the screw nut 205 is threadedly connected with the cross screw 202, the nut seat 206 is threadedly connected outside the screw nut 205 and is fixed by two small round nuts 207, and the speed reducer motor 204 is electrically connected with the single-chip microcomputer 15.

[0035] Further, the guide assembly 3 includes a guide rail 301 and a sliding block 302, the guide rail 301 is connected to the bottom of the cross beam 101, and the sliding block 302 is arranged on the left and right sides of the cross beam 101.

[0036] Further, the hanging arm device 4 includes a hanging arm assembly 401, a round steel pipe 402 and a support plate 403, the hanging arm assembly 401 is installed on the bottom of the sliding block 302 by bolt connection, the upper part of the hanging arm assembly 401 is connected with the bottom of the nut seat 206, the single-chip microcomputer 15 is installed on one of the hanging arm assemblies 401, the round steel pipe 402 is connected to the bottom of the hanging arm assembly 401, and the support plate 403 is connected to the bottom of the round steel pipe 402.

[0037] Further, the rotating arm device 5 comprises a first bearing 501, a rotating shaft 502, a connecting piece 503, a rotating arm hydraulic motor 504, an electromagnetic valve assembly 505, a motor base 506 and an oil pump motor group 507, the first bearing 501 is internally installed in the circular steel pipe 402, the rotating shaft 502 is installed in the inner ring of the first bearing 501, the rotating arm hydraulic motor 504 is fixedly connected to one end of the circular steel pipe 402, one end of the rotating shaft 502 is connected with the rotating arm hydraulic motor 504, and the other end is connected with the connecting piece 503, the electromagnetic valve assembly 505 is installed on the outer wall of the circular steel pipe 402, the motor base 506 is installed on the boom assembly 401, the oil pump motor group 507 is installed on the motor base 506, the oil pump motor group 507, the electromagnetic valve assembly 505 and the rotating arm hydraulic motor 504 are sequentially connected and realize fluid communication through pipelines, and the oil pump motor group 507 and the electromagnetic valve assembly 505 are electrically connected with the single-chip microcomputer 15.

[0038] Further, the rotating arm structure 6 comprises a connecting arm 601, a mounting plate 602 and a clamp fixing seat 603, the connecting arm 601 is connected with the connecting piece 503 through bolt connection in the middle, the mounting plate 602 is connected to both ends of the connecting arm 601, and one clamp fixing seat 603 is connected to each mounting plate 602, the middle end of each clamp fixing seat 603 is connected with a backing plate 604, the first rubber pad 605 is arranged on the backing plate 604, the first pressure sensor 10 is connected to the front and rear ends of the side opposite to the connecting arm 601 on one side, can detect the contact pressure between the wind power rotary support 100 and the connecting arm 601 in real time, and the maximum pressure value is set before the robot works, if the maximum pressure is exceeded, the single-chip microcomputer 15 automatically controls the reduction motor 204 to rotate and drive the boom device 4 to move outward until the contact pressure is reduced to the set maximum pressure value and remains constant, the angle sensor 11 is installed on the top of the connecting arm 601, can detect the overturning angle of the wind power rotary support 100 in real time, and the angle sensor 11 is electrically connected with the single-chip microcomputer 15, so that the overturning angle of the wind power rotary support 100 can be controlled in real time through the single-chip microcomputer 15.

[0039] Further, the clamp device 7 comprises hydraulic oil cylinders 701, oil cylinder connecting seats 702, clamping jaws 703, pressing blocks 704, pin shafts 705 and connecting rods 706, the middle part of each of the clamp fixing seats 603 is provided with the hydraulic oil cylinder 701, the piston rod of the hydraulic oil cylinder 701 is connected with the oil cylinder connecting seat 702, the upper and lower sides of the clamp fixing seat 603 are rotatably connected with the clamping jaws 703 through the pin shafts 705, the clamping jaws 703 are L-shaped, and two clamping jaws 703 are located on the upper and lower sides of the base plate 604, one end of the clamping jaw 703 close to the outer side of the clamp fixing seat 603 is rotatably connected with the pressing block 704, and the other end of the clamping jaw 703 is connected with the oil cylinder connecting seat 702 through the connecting rod 706, the second pressure sensor 12 is provided with two, and is attached to one side of the upper and lower pressing blocks 704, so that the contact pressure between the wind power rotary support 100 and the pressing block 704 can be detected in real time, and the maximum pressure value is set before the robot works, and when the maximum pressure is exceeded, the single-chip microcomputer 15 automatically controls the hydraulic oil cylinder 701 to extend and retract until the contact pressure is reduced to the set maximum pressure value and remains constant, the hydraulic oil cylinder 701 is electrically connected with the single-chip microcomputer 15, and one side of the two second pressure sensors 12 is provided with a second rubber pad 707.

[0040] Further, the connecting arm 601 is provided with the limiting rod 9, and the opposite ends of the two side circular steel pipes 402 are provided with the limiting blocks 8 for blocking the limiting rod 9.

[0041] Further, the connecting arm 601 is provided with the limiting rod 9, and the opposite ends of the two side circular steel pipes 402 are provided with the limiting blocks 8 for blocking the limiting rod 9.

[0042] The robot is mainly used for lifting, carrying and assembling of the wind power rotary support 100. The robot can realize multi-point clamping and posture adjustment of the wind power rotary support 100, thereby improving the safety and stability of the lifting operation. When lifting the wind power rotary support 100, first, the circuit and oil circuit of the whole robot are kept powered and oiled, the trolley is connected with the lifting plate 102, the lifting beam device 1 is lifted to the upper side of the wind power rotary support 100 by the trolley, the display screen control terminal 13 sends an instruction to the single-chip microcomputer 15, the oil pump motor set 507 is started, the oil pump motor set 507 delivers the pressurized hydraulic oil to the electromagnetic valve assembly 505, the electromagnetic valve assembly 505 is a hydraulic reversing valve with direction switching function, and the action is driven by the single-chip microcomputer 15 according to the control instruction. By changing the position of the valve core in the electromagnetic valve, the flow direction of the hydraulic oil can be controlled, and then the rotation direction of the rotary arm hydraulic motor 504 is determined. At the same time, the electromagnetic valve has a proportional control function, and the oil flow entering the rotary arm hydraulic motor 504 can be adjusted, so that the rotation speed is adjusted. The rotary arm hydraulic motor 504 rotates to drive the output shaft to rotate, and the torque is transmitted through the rotating shaft 502, and finally the whole rotary arm structure 6 rotates around the vertical axis. The first bearing 501 is installed in the circular steel pipe 402 to support the rotating shaft 502 and ensure its smooth rotation. When the rotary arm structure 6 rotates to the horizontal state, the speed reducer motor 204 is started to drive two horizontal lead screws 202 to rotate, the horizontal lead screws 202 drive the lead screw nuts 205 to move horizontally, thereby driving the lifting arm assemblies 401 on both sides to move outward. The guide rails 301 and the sliding blocks 302 ensure the straightness and stability of the lifting arm assemblies 401 during movement, so that the clamping range of the clamp devices 7 is adjusted to the maximum. The trolley is used to move the two clamp devices 7 to the outside of the wind power rotary support 100, and then the speed reducer motor 204 is driven to drive the lifting arm device 4, the rotary arm device 5 and the clamp device 7 to move inward horizontally. The wind power rotary support 100 is located between the upper and lower pressing blocks 704, the spacer plate 604 provides lateral support for the wind power rotary support 100 to ensure its stability during horizontal clamping, and the first rubber pad 605 protects the wind power rotary support 100 during operation to prevent damage or scratches to the wind power rotary support 100 during clamping. When the first pressure sensor 10 on the connecting arm 601 contacts the wind power rotary support 100 to a set pressure and keeps constant, the first pressure sensor 10 feeds back a signal to the single-chip microcomputer 15, and the single-chip microcomputer 15 controls the speed reducer motor 204 to stop.The piston rod of the hydraulic cylinder 701 is driven to retract, the cylinder connecting seat 702 is moved, the clamping jaw 703 is swung by the connecting rod 706 with the pin shaft 705 as the axis, the two clamping jaws 703 are moved towards the one end of the pressing block 704, the longitudinal clamping of the wind power rotary support 100 is realized, the workpiece can be clamped at multiple positions, the stability and safety of clamping are enhanced, the second rubber pad 707 can directly contact and protect the surface of the wind power rotary support 100 in the clamping operation process, the wind power rotary support 100 is prevented from being damaged or scratched, meanwhile, the rubber material has good friction performance, the friction force of the clamping interface is increased, and therefore the stability and safety of clamping are improved; after the second pressure sensor 12 on the pressing block 704 contacts the wind power rotary support 100 to the set pressure and keeps constant, the second pressure sensor 12 feeds back a signal to the single-chip microcomputer 15, and the single-chip microcomputer 15 controls the hydraulic cylinder 701 to stop; the rotary shaft 502 is rotated by driving the two rotary arm hydraulic motors 504 by the oil pump motor set 507, the connecting arm 601 is rotated, the rotating speed and the overturning angle of the wind power rotary support 100 are adjusted by controlling the display screen control terminal 13, the angle sensor 11 detects the rotating angle in real time and realizes automatic intelligent adjustment in the operation process, the overturning movement of the wind power rotary support 100 is realized, the robot can adapt to the wind power rotary support 100 with different installation angles, and the adaptability and flexibility of operation are improved; and therefore the transverse clamping, longitudinal clamping and overturning operation of the wind power rotary support 100 are completed. The explosion-proof valve is arranged on the rotary arm hydraulic motor 504 and the hydraulic cylinder 701, when the hydraulic system has a problem, mechanical self-locking can be realized to keep the clamping state, and the workpiece is prevented from being accidentally dropped.

[0043] In order to prevent the connecting arm 601 from rotating excessively to cause mechanical damage or safety hazards, the limiting block 8 and the limiting rod 9 structure are arranged, the rotating angle of the connecting arm 601 can be limited within 180 degrees after the two are matched, and the operation safety is ensured.

[0044] The above examples are only for describing the technical concept and characteristics of the present application, the purpose is to enable the person skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A wind turbine slewing support intelligent crane robot, comprising a lifting beam device (1), characterized in that, It also includes a drive mechanism (2), a guide assembly (3), a boom device (4), a swing arm device (5), a rotating arm structure (6), a clamping device (7), a first pressure sensor (10), an angle sensor (11), a second pressure sensor (12), and a microcontroller (15). The drive mechanism (2) and the guide assembly (3) are installed on the boom device (1). The two boom devices (4) are symmetrically installed on both sides of the guide assembly (3). The drive mechanism (2) is used to drive the boom device (4) to move laterally. Each boom device (4) is equipped with a swing arm device (5). The rotating arm structure (6) is connected to the swing arm device (5). The rotating arm structure (6) is equipped with clamping devices (7) at both ends. The clamping devices (7) are used to clamp the wind turbine slewing support (100). The rotating arm structure (6) is equipped with the first pressure sensor (10) and the angle sensor (11). The clamping devices (7) are equipped with the second pressure sensor (12). The microcontroller (15) is mounted on the boom device (4). The microcontroller (15) is electrically connected to the first pressure sensor (10), the second pressure sensor (12), the angle sensor (11), the drive mechanism (2), the rotating arm device (5), and the clamping devices (7).

2. The wind turbine rotary support intelligent crane robot according to claim 1, characterized in that, The lifting beam device (1) includes a horizontal lifting beam (101), a lifting plate (102), a bearing seat fixing plate one (103) and a bearing seat fixing plate two (104). The lifting plate (102) is connected to the horizontal lifting beam (101), and the bearing seat fixing plate one (103) and the bearing seat fixing plate two (104) are connected to the lower part of the horizontal lifting beam (101).

3. The wind turbine rotary support intelligent crane robot according to claim 2, characterized in that, The drive mechanism (2) includes a lead screw bearing seat (201), a horizontal lead screw (202), a geared motor (204), and a nut assembly. The lead screw bearing seat (201) is installed on the bottom of both the bearing seat fixing plate one (103) and the bearing seat fixing plate two (104). Two connected horizontal lead screws (202) are installed on the lead screw bearing seat (201). One of the two horizontal lead screws (202) is a right-hand thread and the other is a left-hand thread. The geared motor (204) is installed on the bearing seat fixing plate one (103). The output shaft of the geared motor (204) is connected to the horizontal lead screw (202). The nut assembly is threaded onto both horizontal lead screws (202). The geared motor (204) is electrically connected to the microcontroller (15).

4. The wind turbine rotary support intelligent crane robot according to claim 3, characterized in that, The guide assembly (3) includes a guide rail (301) and a slider (302). The guide rail (301) is connected to the horizontal beam (101), and the slider (302) is slidable on both sides of the horizontal beam (101).

5. The wind turbine rotary support intelligent crane robot according to claim 4, characterized in that, The boom device (4) includes a boom assembly (401), a round steel pipe (402) and a support plate (403). The boom assembly (401) is mounted on the slider (302). The boom assembly (401) is connected to the bottom of the nut assembly. The microcontroller (15) is mounted on one of the boom assemblies (401). The bottom of the boom assembly (401) is connected to the round steel pipe (402), and the bottom of the round steel pipe (402) is connected to the support plate (403).

6. The wind turbine rotary support intelligent crane robot according to claim 5, characterized in that, The boom assembly (5) includes a first bearing (501), a rotating shaft (502), a connector (503), a boom hydraulic motor (504), a solenoid valve assembly (505), and an oil pump motor assembly (507). The rotating shaft (502) is movably mounted inside the round steel pipe (402) via the first bearing (501). The boom hydraulic motor (504) is connected to one end of the round steel pipe (402), and one end of the rotating shaft (502) is connected to the boom hydraulic motor (504). The other end is connected to the connector (503). The solenoid valve assembly (505) is installed on the round steel pipe (402). The oil pump motor unit (507) is installed on the boom assembly (401). The oil pump motor unit (507), the solenoid valve assembly (505) and the boom hydraulic motor (504) are connected in sequence through pipelines and achieve fluid communication. The oil pump motor unit (507) and the solenoid valve assembly (505) are both electrically connected to the single-chip microcomputer (15).

7. The wind turbine rotary support intelligent crane robot according to claim 6, characterized in that, The rotating arm structure (6) includes a connecting arm (601), a mounting plate (602), and a clamp fixing seat (603). The connecting arm (601) is connected to the connecting member (503). Both ends of the connecting arm (601) are connected to the clamp fixing seat (603) through the mounting plate (602). Each clamp fixing seat (603) is connected to a pad (604). The first pressure sensor (10) is connected to one side of the two connecting arms (601) on opposite sides. The angle sensor (11) is installed in the middle of the connecting arm (601). The pad (604) is provided with a first rubber pad (605).

8. The wind turbine rotary support intelligent crane robot according to claim 7, characterized in that, The clamping device (7) includes a hydraulic cylinder (701), a cylinder connecting seat (702), a clamping jaw (703), a pressure block (704), a pin (705), and a connecting rod (706). Each clamping fixing seat (603) is equipped with a hydraulic cylinder (701). The piston rod of the hydraulic cylinder (701) is connected to the cylinder connecting seat (702). The clamping jaw (704) is rotatably connected to the upper and lower sides of the clamping fixing seat (603) via the pin (705). 03), one end of the gripper (703) is rotatably connected to the pressure block (704), and the other end of the gripper (703) is connected to the cylinder connecting seat (702) through the connecting rod (706). The second pressure sensor (12) is respectively set on the opposite side of the upper and lower pressure blocks (704). The opposite side of the two second pressure sensors (12) is provided with a second rubber pad (707). The hydraulic cylinder (701) is electrically connected to the single-chip microcomputer (15).

9. The wind turbine rotary support intelligent crane robot according to claim 8, characterized in that, It also includes a limiting block (8) and a limiting rod (9). The limiting rod (9) is connected to the connecting arm (601). The limiting block (8) is symmetrically arranged on the round steel pipe (402) to block the limiting rod (9). The limiting block (8) and the limiting rod (9) work together to ensure that the connecting arm (601) can only rotate within a range of 180 degrees.

10. A wind turbine rotary support intelligent crane robot according to claim 9, characterized in that, It also includes a wireless communication module (14) and a display screen control terminal (13). The wireless communication module (14) is installed on the boom assembly (401). The microcontroller (15) establishes a communication connection with the display screen control terminal (13) through the wireless communication module (14) to realize data transmission and remote control.

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