A welding apparatus and welding method for wind turbine components

Abstract

This invention belongs to the field of welding equipment technology and discloses a welding equipment and method for wind turbine components. The welding equipment includes a base platform, with a hollow rotating positioning assembly installed at the top center of the base platform to support and place the circular flange workpiece to be processed. An inner annular multi-point pressing assembly is located at the center of the hollow rotating positioning assembly, used to position and press the flange workpiece at multiple points from the inside of the central shaft hole. A lifting assembly is installed on one side of the top of the base platform, with several gripper assemblies arranged in a circumferential array on the drive end of the lifting assembly. The gripper assemblies are used to independently clamp the reinforcing ribs to be welded. A welding robot is installed on the other side of the top of the base platform. The welding robot, in conjunction with the rotating positioning action of the hollow rotating positioning assembly, performs automated welding operations on the positioned reinforcing ribs. This invention can quickly and accurately position flange workpieces and reinforcing ribs, and automatically complete continuous welding operations.

Description

Technical Field

[0001] This invention belongs to the field of welding equipment technology, specifically, it relates to a welding equipment and welding method for wind turbine components. Background Technology

[0002] The blade mounting flange of a wind turbine hub is a core load-bearing component connecting the hub body and the blade root. It is integrally forged from high-strength alloy steel, possessing extremely high structural rigidity and fatigue resistance. The flange is a circular disc structure with a central shaft hole for positioning and mating with the inner ring of the pitch bearing inside the hub. Multiple reinforcing ribs are evenly distributed along the circumference outside the shaft hole. These ribs are radially extending plate-like structures, with one end connected to the outer wall of the shaft hole and the other end extending to the outer edge of the flange, connecting the shaft hole, flange, and bolt hole area on the outer edge into one unit. A ring of bolt holes is evenly distributed around the outer edge of the flange for inserting high-strength bolts, achieving a rigid connection with the flange at the blade root.

[0003] When assembling the flange for blade installation, the reinforcing ribs must be placed in place according to the design angle and spacing, and initially fixed by temporary tack welding to ensure that the positional deviation meets the process requirements. In the pre-welding stage, symmetrical spot welding is used to balance the welding stress and prevent the flange from warping and deforming. After spot welding is completed, the position and verticality of the reinforcing ribs are checked again. During the formal welding, a multi-layer, multi-pass welding process is used, and welding is carried out in sections in a symmetrical sequence to control the welding heat input and reduce the risk of deformation. After each weld, the slag spatter is removed in time, surface defects are checked and repaired in time. After welding, the flange needs to be allowed to cool slowly, and then the weld is ground to eliminate excess height and stress concentration points.

[0004] In the above process, whether it is the positioning of the circular flange workpiece or the temporary positioning and spot welding of the reinforcing ribs, the workers need to use tooling and measuring tools to repeatedly adjust the position of the flange and the reinforcing ribs. Not only do they need to check the fit between the shaft hole and the tooling positioning pin and the levelness of the flange, but they also need to measure and correct the angle, spacing and perpendicularity of each reinforcing rib to the flange surface multiple times. Since there are many reinforcing ribs and they are symmetrically distributed, it is impossible to complete the precise alignment of all parts at one time during manual operation. They can only be adjusted one by one and repeatedly confirmed, which consumes a lot of time. Summary of the Invention

[0005] The purpose of this invention is to provide a welding equipment and method for wind turbine components. Multiple reinforcing ribs to be welded are individually clamped and fixed by gripper assemblies. A circular flange workpiece is placed on a hollow rotary positioning assembly, and its positioning is achieved by a multi-point pressing assembly on the inner ring surface. Subsequently, a lifting assembly drives all gripper assemblies to descend synchronously, ensuring the bottom of the reinforcing ribs smoothly adheres to the corresponding positions on the flange workpiece. After the contact state stabilizes, the operator completes the spot welding of each reinforcing rib. After spot welding, the gripper assembly releases the workpiece, and the lifting assembly drives the gripper assembly to return to its original position. Finally, a welding robot and the hollow rotary positioning assembly work together to complete the formal welding of all reinforcing ribs sequentially, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A welding device for wind turbine components includes a base platform. A hollow rotating positioning assembly for supporting and placing a circular flange workpiece to be processed is installed at the top center of the base platform. An inner annular multi-point pressing assembly is located at the center of the hollow rotating positioning assembly, used to position and press the flange workpiece at multiple points from inside the central shaft hole. A lifting assembly is installed on one side of the top of the base platform, with several gripper assemblies arranged in a circumferential array on the drive end of the lifting assembly. These gripper assemblies are used to independently clamp the reinforcing ribs to be welded. A welding robot is installed on the other side of the top of the base platform. The welding robot, in conjunction with the rotating positioning action of the hollow rotating positioning assembly, performs automated welding operations on the positioned reinforcing ribs. An electrical control box is installed on one side of the top of the base platform. The electrical control box is electrically connected to the welding robot, lifting assembly, gripper assembly, hollow rotary positioning assembly, and inner ring multi-point pressing assembly.

[0007] The following are further optimizations of the above technical solution by the present invention: The hollow rotary positioning assembly includes an outer support sleeve fixed at the center of the top of the base platform. A hollow rotating sleeve is concentrically mounted inside the outer support sleeve. A top ring is fixedly mounted at the top edge of the hollow rotating sleeve. A stepped portion for accommodating a circular flange workpiece is provided between the top ring and the hollow rotating sleeve. At least two positioning pins are installed in the stepped portion. The positioning pins are used to insert into the flange holes on the flange workpiece. A rotary drive mechanism for driving the top ring to rotate is installed on one outer wall of the outer support sleeve.

[0008] Further optimization: The rotary drive mechanism includes a base fixedly installed on the outer wall of one side of the outer support sleeve. A rotating shaft is vertically rotatably installed inside the base. A rubber wheel is fixedly installed at the upper end of the rotating shaft. The rubber wheel is in contact with the top ring. A motor for driving the rotating shaft to rotate is installed at the lower end of the base.

[0009] Further optimization: A slotted photoelectric switch is mounted on the base via a bracket, and a light-shielding plate is fixedly installed on the outer surface of the rotating shaft. The light-shielding plate rotates synchronously with the rotating shaft, and the slotted photoelectric switch senses the position signal of the light-shielding plate and feeds it back to the electrical control box.

[0010] Further optimization: The inner annular multi-point pressing assembly includes a hollow upright frame fixed on the base platform and located inside the hollow rotating sleeve. A T-shaped pressure arm is hinged at the upper corner of the hollow upright frame. A U-shaped island platform is fixedly installed on the outer wall of the hollow upright frame below the T-shaped pressure arm. A square column is slidably installed in the vertical direction inside the U-shaped island platform. A connecting rod is hinged to the upper end of the square column. The upper end of the connecting rod is hinged to the lower end of the T-shaped pressure arm. A telescopic drive mechanism is installed at the bottom of the hollow upright frame to drive multiple square columns to move up and down together.

[0011] Further optimization: A protrusion is integrally formed on one side of the outer wall of the T-shaped pressure arm, and a ball bearing is embedded on the side of the protrusion away from the T-shaped pressure arm.

[0012] Further optimization: The telescopic drive mechanism includes a thin cylinder fixedly installed at the center of the lower end of the hollow frame. A lower connecting seat is slidably installed at the lower position inside the hollow frame. The lower end of the square column passes through the U-shaped island and is fixedly connected to the lower connecting seat. Straight slots are provided on the outer walls of the hollow frame for the lower connecting seat to move up and down.

[0013] Further optimization: The lifting assembly includes a gantry frame fixedly installed on the base platform on one side of the hollow rotary positioning assembly. Two parallel and spaced sliding rods are fixedly installed in the middle of the gantry frame. A lifting plate is vertically and slidably installed on both sliding rods. An automatic lifting rod is fixedly installed on the gantry frame. The telescopic end of the automatic lifting rod is fixedly connected to the lifting plate.

[0014] Further optimization: The gripper assembly includes a right-angle slide block that is radially slidably mounted on the lower end face of the lifting plate via a track assembly. A gripper cylinder is mounted on one outer wall of the right-angle slide block. A gripping arm is detachably mounted on the drive claw of the gripper cylinder. A groove is integrally formed on the outer wall of the gripping arm near the vertical central axis of the outer support sleeve.

[0015] The present invention also provides a welding method for wind turbine components, using the aforementioned welding equipment for wind turbine components, comprising the following steps: S1: Place the processed and cleaned circular flange workpiece stably in the support position of the hollow rotary positioning assembly. Start the positioning program through the electrical control box. The inner ring multi-point pressing assembly performs multi-point uniform pressing and limiting from the inside of the central shaft hole of the flange workpiece to center and fix the flange workpiece. After the flange workpiece is positioned, place each reinforcing rib to be welded one by one in the clamping position of each clamping assembly. Control multiple sets of clamping assemblies to complete the clamping action synchronously through the electrical control box to firmly clamp and fix each reinforcing rib, so that all reinforcing ribs maintain a uniform clamping posture and vertical state. S2: The lifting assembly is started to descend via the control box, which drives all the clamping jaw assemblies with reinforcing ribs to move down smoothly until the lower end of each reinforcing rib is in contact with the preset welding position of the circular flange workpiece. After all the reinforcing ribs and the flange workpiece are in complete contact and the overall state is stable without gaps or shaking, the equipment maintains the current locked posture. The staff then manually spot welds the connection positions of each reinforcing rib and the flange workpiece to fix them in place. The reinforcing ribs are initially fixed to the flange workpiece through spot welding. S3: After all spot welding processes are completed and the welds have cooled and set, the workers control the gripper assembly to release and reset through the electrical control box, releasing the clamping constraint on the reinforcing ribs. Then, the lifting assembly is operated to drive all gripper assemblies to move upward as a whole, returning to the initial standby position and completely separating from the workpiece welding area, freeing up operating space for the formal welding operation. S4: Start the automatic welding program on the electrical control box, so that the welding robot and the hollow rotary positioning assembly cooperate and work together. The hollow rotary positioning assembly accurately changes position as needed according to the welding process, driving the flange workpiece to rotate at a uniform speed and smoothly. The welding robot performs continuous and complete automated welding operations on the weld position of each reinforcing rib in sequence according to the preset welding trajectory and welding process, until all welding processes of all reinforcing ribs and flange workpieces are completed.

[0016] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1. This invention uses a hollow rotary positioning assembly and an inner ring multi-point pressing assembly to quickly position the flange workpiece. It relies on multiple sets of gripper assemblies to simultaneously clamp all reinforcing ribs, and then the lifting assembly drives the workpiece to descend as a whole to complete the docking. This eliminates the tedious steps of manual clamping, repeated calibration, and multiple fine adjustments. The process is smooth and seamless, effectively reducing the downtime and redundant work caused by manual operation. After spot welding, the gripper assembly can automatically release the workpiece and reset. Subsequently, the welding robot cooperates with the rotary positioning assembly to carry out continuous welding. The whole process is streamlined, reducing rework caused by human error and significantly reducing the overall processing time.

[0017] 2. The present invention adopts a standardized positioning and clamping method, which ensures that the position, angle and fit of the flange workpiece and each reinforcing rib are always consistent, reducing the accuracy differences caused by the operator's technical level and operating conditions, avoiding various problems caused by positioning deviations from the source, and ensuring that the workpiece is reliably fixed throughout the entire processing process without shaking or displacement, thus ensuring stable spot welding and final welding results. Attached Figure Description

[0018] Figure 1 The overall three-dimensional structure of the embodiment of the present invention Figure 1 ; Figure 2 The overall three-dimensional structure of the embodiment of the present invention Figure 2 ; Figure 3 This is a three-dimensional partial schematic diagram of the overall structure in an embodiment of the present invention; Figure 4 This is a perspective sectional view of the hollow rotary positioning assembly in an embodiment of the present invention; Figure 5 This is a perspective view of the hollow rotary positioning assembly in an embodiment of the present invention; Figure 6 This is a perspective view of the multi-point pressing assembly on the inner annular surface in an embodiment of the present invention; Figure 7 This is a front sectional view of the overall structure in an embodiment of the present invention; Figure 8 This is a three-dimensional sectional view of the overall structure in an embodiment of the present invention; Figure 9 This is a perspective view of the gripper assembly in an embodiment of the present invention.

[0019] In the diagram: 1-Base platform; 2-Welding robot; 3-Lifting assembly; 31-Gantry frame; 32-Slide rod; 33-Lifting plate; 34-Automatic lifting rod; 4-Gripper assembly; 41-Right-angle slide block; 42-Gripper cylinder; 43-Gripper arm; 44-Clamping groove; 5-Hollow rotary positioning assembly; 51-Outer support sleeve; 52-Hollow rotating sleeve; 53-Top ring; 54-Step section; 55-Positioning column; 56 -Base; 57-Shaft; 58-Rubber wheel; 59-Motor; 510-Slotted photoelectric switch; 511-Light-shielding plate; 6-Inner ring multi-point pressing assembly; 61-Hollow upright; 6101-Straight slot; 62-U-shaped island; 63-Square column; 64-Lower connecting seat; 65-Thin cylinder; 66-T-shaped pressure arm; 6601-Protrusion; 6602-Ball bearing; 67-Connecting rod; 7-Electrical control box. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Depend on Figures 1 to 2 As shown, a welding device for wind turbine components includes a base platform 1. A hollow rotating positioning assembly 5 for supporting and placing a circular flange workpiece to be processed is installed at the top center of the base platform 1. An inner annular multi-point pressing assembly 6 is provided at the center of the hollow rotating positioning assembly 5. The inner annular multi-point pressing assembly 6 is used to position and press the flange workpiece at multiple points from the inside of the central shaft hole of the flange workpiece. A lifting assembly 3 is installed on one side of the top of the base platform 1. Several gripper assemblies 4 are arranged in a circular array on the drive end of the lifting assembly 3. The gripper assemblies 4 are used to independently clamp the reinforcing ribs to be welded. A welding robot 2 is installed on the other side of the top of the base platform 1. The welding robot 2 cooperates with the rotating positioning action of the hollow rotating positioning assembly 5 to perform automated welding operations on the positioned reinforcing ribs.

[0022] An electrical control box 7 is installed on one side of the top of the base platform 1. The electrical control box 7 is electrically connected to the welding robot 2, the lifting assembly 3, the gripper assembly 4, the hollow rotary positioning assembly 5, and the inner ring multi-point pressing assembly 6.

[0023] Depend on Figure 3 , Figure 4 and Figure 5 As shown, the hollow rotary positioning assembly 5 includes an outer support sleeve 51 fixed at the middle position of the top of the base 1. A hollow rotating sleeve 52 is installed inside the outer support sleeve 51 through a bearing for concentric rotation. A top ring 53 is fixedly installed at the top edge of the hollow rotating sleeve 52. A stepped portion 54 for accommodating a circular flange workpiece is provided between the top ring 53 and the hollow rotating sleeve 52. At least two positioning pins 55 are installed in the stepped portion 54. The positioning pins 55 are used to insert into the flange holes on the flange workpiece.

[0024] In this embodiment, a support station is formed at the stepped portion 54 between the top ring 53 and the hollow rotating sleeve 52. This support station is used to accommodate the flange workpiece to be welded.

[0025] A rotary drive mechanism is installed on one side of the outer wall of the outer support sleeve 51. The power output end of the rotary drive mechanism is connected to the top ring 53 for driving the top ring 53 to rotate.

[0026] The rotary drive mechanism includes a base 56 fixedly mounted on the outer wall of one side of the outer support sleeve 51. A rotating shaft 57 is vertically rotatably mounted inside the base 56. A rubber wheel 58 is fixedly mounted on the upper end of the rotating shaft 57. The rubber wheel 58 is in contact with the top ring 53. A motor 59 is mounted on the lower end of the base 56. The power output end of the motor 59 is connected to the lower end of the rotating shaft 57. When the motor 59 starts, it outputs rotational power to drive the rotating shaft 57 and the rubber wheel 58 to rotate.

[0027] With this design, the flange workpiece to be welded can be placed in the stepped section 54. At this time, the flange hole on the flange workpiece is inserted into the positioning post 55. When the hollow rotation repositioning assembly 5 needs to drive the flange workpiece with the reinforcing ribs welded on to rotate, the motor 59 is started first to drive the rotating shaft 57 and the rubber wheel 58 to rotate in sequence. The rubber wheel 58 drives the top ring 53, the hollow rotating sleeve 52 and the flange workpiece to rotate and reposition through friction.

[0028] The rubber wheel 58 and top ring 53 in the hollow rotary switching assembly 5 can also be replaced with gears or external gear rings. In this case, the meshing transmission of gears and external gear rings is more reliable and accurate.

[0029] When in use, the hollow rotary positioning assembly 5 enables precise adjustment of the workpiece angle without the need for manual rotation or movement during the welding process. It is suitable for the continuous welding requirements of multiple circumferentially distributed reinforcing ribs and works with the welding robot 2 to ensure consistent welding posture for each weld.

[0030] A slotted photoelectric switch 510 is mounted on the base 56 via a bracket. A light-shielding plate 511 is fixedly installed on the outer surface of the rotating shaft 57. The light-shielding plate 511 rotates synchronously with the rotating shaft 57. The slotted photoelectric switch 510 senses the position signal of the light-shielding plate 511 and feeds it back to the electrical control box 7.

[0031] With this design, during the rotation of the rotating shaft 57, the light-shielding plate 511 will follow the rotating shaft 57 in a circular motion. When it passes through the groove area of ​​the slotted photoelectric switch 510, the notch of the plate will connect the light paths on both sides. The receiving end receives the light, and the slotted photoelectric switch 510 will then generate an electrical signal and transmit it to the electrical control box 7. After receiving the signal, the electrical control system determines that the workpiece has reached the preset welding position and then sends a pause command to the motor 59 to stop the hollow rotary positioning assembly 5, ensuring that the current reinforcing rib weld is facing the welding robot 2, thus meeting the position requirements of the welding operation.

[0032] Depend on Figure 6 and Figure 7As shown, the inner annular multi-point pressing assembly 6 includes a hollow upright 61 fixed on the base 1 and located inside the hollow rotating sleeve 52. A T-shaped pressing arm 66 is hinged at the upper corner of the hollow upright 61. A U-shaped island platform 62 is fixedly installed on the outer wall of the hollow upright 61 below the T-shaped pressing arm 66. A square column 63 is slidably installed in the vertical direction inside the U-shaped island platform 62. A connecting rod 67 is hinged to the upper end of the square column 63. The upper end of the connecting rod 67 is hinged to the lower end of the T-shaped pressing arm 66.

[0033] The bottom end of the hollow upright 61 is equipped with a telescopic drive mechanism. The telescopic drive mechanism is used to drive multiple square columns 63 to move up and down together. During the up and down movement, the square columns 63 drive the T-shaped pressure arm 66 to swing along the hinge between the T-shaped pressure arm 66 and the hollow upright 61 through the connecting rod 67, so as to adjust the position of the T-shaped pressure arm 66 for easy use.

[0034] A protrusion 6601 is integrally formed on one side of the outer wall of the T-shaped pressure arm 66, and a ball bearing 6602 is embedded on the side of the protrusion 6601 away from the T-shaped pressure arm 66; the ball bearing 6602 enables the T-shaped pressure arm 66 to apply pressure to the flange workpiece without affecting the subsequent rotation of the flange workpiece by the hollow rotational positioning assembly 5.

[0035] The telescopic drive mechanism includes a thin cylinder 65 fixedly installed at the center of the lower end of the hollow upright 61. A lower connecting seat 64 is slidably installed at the lower position inside the hollow upright 61. The lower end of the square column 63 passes through the U-shaped island platform 62 and is fixedly connected to the lower connecting seat 64. Straight slots 6101 are provided on the outer walls of the hollow upright 61 for the lower connecting seat 64 to move up and down.

[0036] With this design, after the flange workpiece is placed in the support position of the hollow rotary positioning assembly 5, the operator starts the thin cylinder 65 through the electrical control box 7. The thin cylinder 65 drives each square column 63 to move down together through the lower connecting seat 64. During this process, the U-shaped island 62 guides the movement of the square columns 63. The square columns 63 force the protrusions 6601 of the T-shaped pressure arms 66 to swing down through the connecting rod 67 until the ball bearings 6602 contact the inner annular surface of the central shaft hole of the flange workpiece. Since each T-shaped pressure arm 66 swings down together and contacts the inner annular surface of the central shaft hole of the flange through the ball bearings 6602, the flange workpiece is centered, limited, and clamped, so that the flange workpiece maintains a stable horizontal and centered posture.

[0037] In this embodiment, the inner ring multi-point pressing assembly 6 adopts the inner ring multi-point positioning method, which has a precise and unified positioning reference. This can avoid the problems of tilting, eccentricity and shaking of the flange workpiece during clamping. Compared with the external clamping positioning method, it will not block the flange welding area and there is no clamping interference. It can ensure extremely high positioning accuracy and will not affect the subsequent stiffener docking and welding operations.

[0038] Depend on Figure 1-3 As shown, the lifting assembly 3 includes a gantry frame 31 fixedly installed on the base platform 1 on one side of the hollow rotary positioning assembly 5. Two parallel and spaced slide rods 32 are fixedly installed in the middle of the gantry frame 31. A lifting plate 33 is vertically slidably installed on the two slide rods 32. The lifting plate 33 can slide up and down along the slide rods 32.

[0039] An automatic lifting rod 34 is fixedly installed on the gantry frame 31. The telescopic end of the automatic lifting rod 34 is fixedly connected to the lifting plate 33. When the automatic lifting rod 34 is activated, its telescopic end extends or retracts. At this time, the automatic lifting rod 34 can drive the lifting plate 33 to slide up and down on the slide bar 32, thereby adjusting the height position of the lifting plate 33.

[0040] In this embodiment, the automatic lifting rod 34 can be one of a hydraulic cylinder, a telescopic cylinder, or an electric telescopic rod, which is suitable for driving the lifting plate 33 to slide up and down on the slide rod 32.

[0041] Depend on Figure 8 and Figure 9 As shown, the gripper assembly 4 includes a right-angle slide 41 that is radially slidably mounted on the lower end face of the lifting plate 33 via a track assembly. A gripper cylinder 42 is mounted on one outer wall of the right-angle slide 41. A gripping arm 43 is detachably mounted on the drive claw of the gripper cylinder 42. A snap groove 44 is integrally formed on the outer wall of the gripping arm 43 near the vertical central axis of the outer support sleeve 51.

[0042] In this embodiment, the upper end of the clamping arm 43 is connected to the driving claw of the clamping claw cylinder 42 by bolts, and the clamping arm 43 is made of aluminum alloy.

[0043] When using the gripper assembly 4, the operator first places the reinforcing rib between the two gripping arms 43 at the drive end of the gripper cylinder 42, with the rear end of the reinforcing rib in contact with the snap-fit ​​groove 44. The gripper cylinder 42 drives the two gripping arms 43 to close and actively clamp the reinforcing rib. At this time, the clamping posture of all reinforcing ribs is standardized and uniform, with no manual positioning deviation, effectively ensuring that the installation position and verticality of each reinforcing rib are consistent.

[0044] When the lifting assembly 3 drives the gripper assembly 4 and the reinforcing rib to move down, the contact surface between the reinforcing rib and the flange workpiece is tightly fitted. The operator can manually push the right-angle slide 41 so that the clamped reinforcing rib can be adjusted in radial position.

[0045] In addition to this embodiment, the right-angle slide 41 may also be threaded with a top bolt, the end of which is engaged with the track assembly to position the right-angle slide 41 on the track assembly for easy use.

[0046] In this embodiment, the welding robot 2 is existing technology and can be purchased directly from the market. The welding robot 2 can perform welding operations on the connection between the reinforcing rib and the flange workpiece according to the welding program, which is convenient to use.

[0047] In this embodiment, the electrical control box 7 is also existing technology. Its specific structure includes a control box body, in which a main controller is installed. A touch screen and control buttons are installed on the outer surface of the control box body, and the touch screen and control buttons are both connected to the main controller. The main controller can be either a PLC main controller or a microcontroller. The main controller is equipped with a control program and control parameters. The main controller is used to control the welding robot 2, the lifting assembly 3, the gripper assembly 4, the hollow rotary positioning assembly 5, and the inner ring multi-point pressing assembly 6 to work independently according to the control program and control parameters.

[0048] In this embodiment, a welding method for wind turbine components is also provided, using the aforementioned welding equipment for wind turbine components, including the following steps: S1: Place the processed and cleaned circular flange workpiece stably in the support position of the hollow rotary positioning assembly 5. Start the positioning program through the electrical control box 7. The inner ring multi-point pressing assembly 6 performs multi-point uniform pressing and limiting from the inside of the central shaft hole of the flange workpiece to center and fix the flange workpiece. After the flange workpiece is positioned, place each reinforcing rib to be welded one by one in the clamping position of each clamping jaw assembly 4. Control the multiple sets of clamping jaw assemblies 4 to complete the clamping action synchronously through the electrical control box 7 to firmly clamp and fix each reinforcing rib, so that all reinforcing ribs maintain a uniform clamping posture and vertical state.

[0049] In step S1, the working principle of the inner annular multi-point pressing assembly 6 is as follows: First, the flange workpiece is placed at the step 54 position. At this time, the flange hole on the flange workpiece is inserted into the positioning column 55 to realize the circumferential positioning between the flange workpiece and the hollow rotating sleeve 52. Then, the operator starts the thin cylinder 65 through the electrical control box 7. The thin cylinder 65 drives each square column 63 to move down together through the lower connecting seat 64. During this process, the U-shaped island 62 guides the movement of the square column 63. The square column 63 forces the protrusion 6601 of the T-shaped pressure arm 66 to swing down through the connecting rod 67 until the ball 6602 contacts the inner annular surface of the central shaft hole of the flange workpiece. Since each T-shaped pressure arm 66 swings down together and contacts the inner annular surface of the central shaft hole of the flange through the ball 6602, the flange workpiece is centered, limited and pressed and fixed, so that the flange workpiece maintains a stable horizontal and centered posture.

[0050] In step S1, the working principle of the gripper assembly 4 is as follows: First, the reinforcing rib is placed between the two gripping arms 43 at the drive end of the gripper cylinder 42, and the rear end of the reinforcing rib is in contact with the snap groove 44. The gripper cylinder 42 drives the two gripping arms 43 to close and actively clamp the reinforcing rib. At this time, the clamping posture of all reinforcing ribs is standardized and uniform, with no manual positioning deviation, effectively ensuring that the installation position and verticality of each reinforcing rib are consistent.

[0051] S2: The lifting assembly 3 is started to descend by controlling the electric control box 7, which drives all the clamping jaw assemblies 4 with reinforcing ribs to move down smoothly until the lower end face of each reinforcing rib is in contact with the preset welding position of the circular flange workpiece. After all the reinforcing ribs and the flange workpiece are in complete contact, the overall state is stable without gaps or shaking, the equipment maintains the current locked posture. The staff then manually spot welds the connection positions of each reinforcing rib and the flange workpiece in turn, and the reinforcing ribs are initially fixed to the flange workpiece by spot welding.

[0052] In step S2, the working principle of the lifting assembly 3 is as follows: the automatic lifting rod 34 is started to extend or retract its telescopic end. When the automatic lifting rod 34 extends, it drives the lifting plate 33 to move downward on the slide rod 32. The lifting plate 33 drives all the clamping jaw assemblies 4 with reinforcing ribs to move down smoothly until the lower end face of each reinforcing rib is in contact with the preset welding position of the circular flange workpiece.

[0053] S3: After all spot welding processes are completed and the welds have cooled and set, the workers control the gripper assembly 4 to release and reset via the electrical control box 7, thereby releasing the clamping constraint on the reinforcing rib. Then, the lifting assembly 3 is operated to move all gripper assemblies 4 upwards, returning to the initial standby position and completely separating them from the workpiece welding area, thus freeing up operating space for the formal welding operation.

[0054] S4: Start the automatic welding program on the electrical control box 7, so that the welding robot 2 and the hollow rotary positioning assembly 5 cooperate and work together. The hollow rotary positioning assembly 5 accurately changes position as needed according to the welding process, driving the flange workpiece to rotate at a uniform speed and smoothly. The welding robot 2 performs continuous and complete automated welding operations on the weld position of each reinforcing rib in sequence according to the preset welding trajectory and welding process, until all welding processes of the reinforcing ribs and flange workpieces are completed.

[0055] In step S4, the working principle of the hollow rotation positioning assembly 5 is as follows: the motor 59 starts and drives the rotating shaft 57 and rubber wheel 58 to rotate in sequence. The rubber wheel 58 drives the top ring 53, hollow rotating sleeve 52 and flange workpiece to rotate and reposition through friction. During the rotation of the rotating shaft 57, the light-shielding baffle 511 will follow the rotating shaft 57 to make a circular motion. When it passes through the groove area of ​​the slotted photoelectric switch 510, the notch of the baffle will connect the light paths on both sides. The receiving end receives the light, and the slotted photoelectric switch 510 will then generate an electrical signal and transmit it to the electrical control box 7. After receiving the signal, the electrical control system determines that the workpiece has reached the preset welding position and then sends a pause command to the motor 59 to stop the hollow rotation positioning assembly 5, ensuring that the current reinforcing rib weld is facing the welding robot 2, thus meeting the position requirements of the welding operation.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A welding equipment for wind turbine components, characterized in that: The system includes a base platform (1), a hollow rotary positioning assembly (5) for holding and placing a circular flange workpiece to be processed is installed at the top center of the base platform (1), an inner ring multi-point pressing assembly (6) is set at the middle position of the hollow rotary positioning assembly (5), the inner ring multi-point pressing assembly (6) is used to position and press the flange workpiece from the inside of the central shaft hole of the flange workpiece at multiple points; a lifting assembly (3) is installed on one side of the top of the base platform (1), and several gripper assemblies (4) are arranged in a circular array on the drive end of the lifting assembly (3), the gripper assemblies (4) are used to independently clamp the reinforcing ribs to be welded; a welding robot (2) is installed on the other side of the top of the base platform (1), the welding robot (2) cooperates with the rotary positioning action of the hollow rotary positioning assembly (5) to perform automated welding operation on the positioned reinforcing ribs; An electrical control box (7) is installed on one side of the top of the base (1). The electrical control box (7) is electrically connected to the welding robot (2), the lifting assembly (3), the gripper assembly (4), the hollow rotary positioning assembly (5), and the inner ring multi-point pressing assembly (6).

2. The welding equipment for wind turbine components according to claim 1, characterized in that: The hollow rotary positioning assembly (5) includes an outer support sleeve (51) fixed at the middle position of the top of the base (1). A hollow rotating sleeve (52) is concentrically mounted inside the outer support sleeve (51). A top ring (53) is fixedly mounted at the top edge of the hollow rotating sleeve (52). A stepped portion (54) for accommodating a circular flange workpiece is provided between the top ring (53) and the hollow rotating sleeve (52). At least two positioning pins (55) are installed in the stepped portion (54). The positioning pins (55) are used to insert into the flange holes on the flange workpiece. A rotary drive mechanism for driving the top ring (53) to rotate is installed on one side of the outer wall of the outer support sleeve (51).

3. The welding equipment for wind turbine components according to claim 2, characterized in that: The rotary drive mechanism includes a base (56) fixedly installed on the outer wall of one side of the outer support sleeve (51). A rotating shaft (57) is vertically rotatably installed inside the base (56). A rubber wheel (58) is fixedly installed at the upper end of the rotating shaft (57). The rubber wheel (58) is in contact with the top ring (53). A motor (59) for driving the rotating shaft (57) to rotate is installed at the lower end of the base (56).

4. The welding equipment for wind turbine components according to claim 3, characterized in that: A slotted photoelectric switch (510) is mounted on the base (56) via a bracket. A light-shielding plate (511) is fixedly installed on the outer surface of the rotating shaft (57). The light-shielding plate (511) rotates synchronously with the rotating shaft (57). The slotted photoelectric switch (510) senses the position signal of the light-shielding plate (511) and feeds it back to the electrical control box (7).

5. The welding equipment for wind turbine components according to claim 4, characterized in that: The inner annular multi-point pressing assembly (6) includes a hollow upright (61) fixed on the base (1) and located inside the hollow rotating sleeve (52). A T-shaped pressure arm (66) is hinged at the upper corner of the hollow upright (61). A U-shaped island (62) is fixedly installed on the outer wall of the hollow upright (61) below the T-shaped pressure arm (66). A square column (63) is slidably installed in the interior of the U-shaped island (62) along the vertical direction. A connecting rod (67) is hinged to the upper end of the square column (63). The upper end of the connecting rod (67) is hinged to the lower end of the T-shaped pressure arm (66). A telescopic drive mechanism is installed at the bottom of the hollow upright (61) to drive multiple square columns (63) to move up and down together.

6. The welding equipment for wind turbine components according to claim 5, characterized in that: A protrusion (6601) is integrally formed on one side of the outer wall of the T-shaped pressure arm (66), and a ball bearing (6602) is inlaid on the side of the protrusion (6601) away from the T-shaped pressure arm (66).

7. The welding equipment for wind turbine components according to claim 6, characterized in that: The telescopic drive mechanism includes a thin cylinder (65) fixedly installed at the center of the lower end of the hollow upright (61). A lower connecting seat (64) is slidably installed at the lower position inside the hollow upright (61). The lower end of the square column (63) passes through the U-shaped island platform (62) and is fixedly connected to the lower connecting seat (64). Straight slots (6101) are provided on the outer walls of the hollow upright (61) for the lower connecting seat (64) to move up and down.

8. The welding equipment for wind turbine components according to claim 7, characterized in that: The lifting assembly (3) includes a gantry frame (31) fixedly installed on the base platform (1) on one side of the hollow rotary positioning assembly (5). Two parallel and spaced sliding rods (32) are fixedly installed in the middle of the gantry frame (31). A lifting plate (33) is vertically slidably installed on the two sliding rods (32). An automatic lifting rod (34) is fixedly installed on the gantry frame (31). The telescopic end of the automatic lifting rod (34) is fixedly connected to the lifting plate (33).

9. The welding equipment for wind turbine components according to claim 8, characterized in that: The gripper assembly (4) includes a right-angle slide (41) that is radially slidably mounted on the lower end face of the lifting plate (33) via a track assembly. A gripper cylinder (42) is mounted on one side of the outer wall of the right-angle slide (41). A gripping arm (43) is detachably mounted on the drive claw of the gripper cylinder (42). A groove (44) is integrally formed on the outer wall of the gripping arm (43) near the vertical central axis of the outer support sleeve (51).

10. A welding method for wind turbine components, using the welding equipment for wind turbine components as described in any one of claims 1-9, characterized in that: Includes the following steps: S1: Place the processed and cleaned circular flange workpiece stably in the support position of the hollow rotary positioning assembly (5). Start the positioning program through the electrical control box (7). The inner ring multi-point pressing assembly (6) performs multi-point uniform pressing and limiting from the inside of the central shaft hole of the flange workpiece to center and fix the flange workpiece. After the flange workpiece is positioned, place each reinforcing rib to be welded in the corresponding clamping position of each clamping assembly (4). Control multiple sets of clamping assemblies (4) through the electrical control box (7) to complete the clamping action synchronously, and fix each reinforcing rib firmly so that all reinforcing ribs maintain a uniform clamping posture and vertical state. S2: Control the lifting assembly (3) through the electrical control box (7) to start the downward movement, drive all the clamping jaw assemblies (4) with reinforcing ribs to move down smoothly until the lower end face of each reinforcing rib is in contact with the preset welding position of the circular flange workpiece. After all the reinforcing ribs and the flange workpiece are in complete contact, the overall state is stable without gaps or shaking, the equipment maintains the current locked posture, and the staff will manually spot weld the connection position of each reinforcing rib to the flange workpiece in turn. The reinforcing ribs are initially fixed to the flange workpiece through spot welding. S3: After the spot welding process is completed and the weld spot has cooled and solidified, the staff will once again control the gripper assembly (4) to release and reset through the electrical control box (7), release the clamping constraint on the reinforcing rib, and then operate the lifting assembly (3) to drive all the gripper assemblies (4) to move upward as a whole, return to the initial standby position, completely separate from the workpiece welding area, and free up operating space for formal welding operations. S4: Start the automatic welding program on the electrical control box (7) so that the welding robot (2) and the hollow rotary positioning assembly (5) cooperate and work together. The hollow rotary positioning assembly (5) accurately changes position as needed according to the welding process, driving the flange workpiece to rotate at a uniform speed and smoothly. The welding robot (2) performs continuous and complete automated welding operations on the weld position of each reinforcing rib in sequence according to the preset welding trajectory and welding process until all the welding processes of the reinforcing ribs and flange workpieces are completed.

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