Wind power rolling yaw brake assembly robot tail end device

Abstract

The utility model discloses a wind power rolling yaw brake assembly robot end device which is characterized in that the robot end device (1) comprises a rolling gripper device (101), a gasket pressure resisting device (102) and a movable pin device (103), the gasket pressure resisting device (102) is connected with the rolling gripper device (101) through a sliding rail and a sliding block, and the movable pin device (103) is connected with the gasket pressure resisting device (102). The tail end device of the wind power rolling yaw brake assembling robot grabs a rolling brake through the rolling gripper device (101) installed on a six-axis of an industrial six-axis robot, the brake is accurately positioned through the movable pin device (103) on a rolling brake gripper, and the tail end device of the wind power rolling yaw brake assembling robot is used for accurately positioning the brake. The gasket is grabbed and pressed on the lower surface of the brake through the gasket pressure resisting device (102) on the rolling brake gripper, so that the assembly efficiency of the rolling brake is improved, and the danger of an operator during working is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, and particularly relates to an assembly device for a rolling yaw brake. Background Technique

[0002] The yaw brake is fixed on the nacelle base. When the unit is anchored, the brake and the yaw motor provide braking force to keep the unit in the wind-facing position. When the unit yaws, the brake provides a damping torque to maintain yaw balance.

[0003] The clamping force of the rolling yaw brake is provided by a hydraulic system, and the specified clamping force is obtained by adjusting the pressure output by the hydraulic system. Content of the Utility Model

[0004] The purpose of the utility model is to provide an end device of a wind power rolling yaw brake assembly robot, which has the advantages of improving the installation efficiency of the rolling yaw brake and saving manpower, and solves the problems of low efficiency and high danger coefficient during manual docking mentioned above.

[0005] To achieve the above purpose, the utility model provides the following technical solution: an end device of a wind power rolling yaw brake assembly robot, the device includes a rolling gripper device, a gasket pressure resistance device and a movable pin device. Among them, the gasket pressure resistance device is connected to the rolling gripper device through a slide rail and a slider, and the movable pin device is connected to the hand device.

[0006] Preferably, the rolling gripper device includes an end connection device, a floating connection plate, a movable pin connection device, a translation slide rail, a gasket pressure resistance translation cylinder device, a floating cylinder, an electrophoresis magnet connection plate, an electrophoresis magnet, and a fixed pin device. Among them, the end connection device is connected to the floating cylinder through the floating connection plate; the movable pin connection device is connected to the electrophoresis magnet connection plate; the translation slide rail is connected to the electrophoresis magnet connection plate; the gasket pressure resistance translation cylinder device is also connected to the electrophoresis magnet connection plate; the floating cylinder is connected to the electrophoresis magnet through the electrophoresis magnet connection plate; the fixed pin device is connected to the electrophoresis magnet connection plate.

[0007] Preferably, the gasket pressure resistance device includes a lifting connection plate, a translation slider, a lifting cylinder, a limit cylinder, a lifting device, a lifting connection plate, a buffer block, and a gasket pressing plate; among them, the translation slider, the lifting cylinder, and the limit cylinder are connected to the lifting connection plate; the lifting connection plate is connected to the lifting connection plate through the lifting device; the gasket pressing plate and the buffer block are connected to the lifting connection plate; the translation slider is connected to the translation slide rail.

[0008] Preferably, the movable pin device includes a movable pin cylinder, a movable pin cylinder connecting plate, and a movable pin; wherein, the movable pin cylinder is connected to the movable pin cylinder connecting plate; the movable pin is connected to the movable pin cylinder; and the movable pin cylinder connecting plate is connected to the movable pin connecting device.

[0009] Preferably, a vision system and a robot end device are installed at the end of the sixth axis of the industrial six-axis robot.

[0010] Compared with the prior art, the present utility model has the following advantages:

[0011] (1) Improve production efficiency: The end device of the rolling yaw brake assembly robot of the present utility model realizes the automatic picking and placing of the rolling yaw brake through the rolling gripper device; realizes the precise positioning of the rolling yaw brake through the fixed pin device; realizes the picking and placing of the gasket through the gasket pressing device; and realizes the precise positioning of the gasket through the movable pin device. Basically, no manual operation is required, and the production efficiency can reach more than twice that of manual operation.

[0012] (3) Reduce the operation difficulty: The end device of the rolling yaw brake assembly robot of the present utility model only requires manual participation in the feeding process, and the rest of the actions are automatically completed by the end device of the rolling yaw brake assembly robot.

[0013] (5) Convenient operation: Workers can call the stored process program with one key, and only need to press the start button after feeding to automatically complete the subsequent action process.

[0014] (6) Strong versatility: The end device of the rolling yaw brake assembly robot adopts a modular design. By replacing the mounting flange with the robot's sixth axis, it can be applied to different models of robots. Description of the Drawings

[0015] Figure 1 is the installation schematic diagram of the present utility model;

[0016] Figure 2 is the schematic diagram of the present utility model;

[0017] Figure 3 is the schematic diagram of the rolling gripper device of the present utility model;

[0018] Figure 4 is the schematic diagram of the gasket pressing device of the present utility model;

[0019] Figure 5 is the schematic diagram of the movable pin device of the present utility model;

[0020] In the figure: 1. Robot end device; 101. Rolling gripper device; 10101. End connection device; 10102. Floating connecting plate; 10103. Moving pin connection device; 10104. Translation slide rail; 10105. Shim pressure-resistant translation cylinder device; 10106. Floating cylinder; 10107. Electrophoresis magnet connecting plate; 10108. Electrophoresis magnet; 10109. Fixed pin device; 102. Shim pressure-resistant device; 10201. First lifting connecting plate; 10202. Translation slider; 10203. Lifting cylinder; 10204. Limit cylinder; 10205. Lifting device; 10206. Second lifting connecting plate; 10207. Buffer block; 10208. Shim pressing plate; 103. Moving pin device; 10301. Moving pin cylinder; 10302. Moving pin cylinder connecting plate; 10303. Moving pin; 2. Vision system; 3. Industrial robot. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] Please refer to Figure 1 As shown, a robot end device for assembling a wind power rolling yaw brake is fixed to the six-axis end of a six-axis robot 3, and picks and places the brake and shims according to the data provided by the vision system 2. The device includes a rolling gripper device 101, a shim pressure-resistant device 102, and a moving pin device 103. Please refer to Figure 2 As shown, the shim pressure-resistant device 102 is connected to the rolling gripper device 101 through a slide rail and a slider, and the moving pin device 103 is connected to the gripper device 101.

[0023] Next, each part of the robot end device for assembling the wind power rolling yaw brake will be introduced in detail:

[0024] Rolling gripper device

[0025] As Figure 3As shown in the figure, the rolling gripper device 101 includes an end connection device 10101, a floating connection plate 10102, a moving pin connection device 10103, a translation slide rail 10104, a gasket pressure-resistant translation cylinder device 10105, a floating cylinder 10106, an electrophoresis magnet connection plate 10107, an electrophoresis magnet 10108, and a fixed pin device 10109. The floating cylinder 10106 is driven by compressed air, and then drives the electrophoresis magnet 10108 to translate, so that it has a buffering ability in the axial direction; the gasket pressure-resistant translation cylinder device 10105 is driven by compressed air, and then drives the gasket pressure-resistant device 102 to translate. The electrophoresis magnet 10108 has magnetism through electromagnetic coil control, and through the precise guidance of the fixed pin device 10109, the brake can be accurately grasped. Specifically, the end connection device 10101 and the floating cylinder 10106 are connected through the floating connection plate 10102, the moving pin connection device 10103 is connected to the electrophoresis magnet connection plate 10107, the translation slide rail 10104 is connected to the electrophoresis magnet connection plate 10107, the gasket pressure-resistant translation cylinder device 10105 is connected to the electrophoresis magnet connection plate 10107, the floating cylinder 10106 and the electrophoresis magnet 10108 are connected through the electrophoresis magnet connection plate 10107, and the fixed pin device 10109 is connected to the electrophoresis magnet connection plate 10107.

[0026] Gasket pressure-resistant device

[0027] As Figure 4 shown in the figure, the gasket pressure-resistant device 102 includes a first lifting connection plate 10201, a translation slider 10202, a lifting cylinder 10203, a limit cylinder 10204, a lifting device 10205, a second lifting connection plate 10206, a buffer block 10207, and a gasket pressing plate 10208. The lifting cylinder 10203 is driven by compressed air, and then drives the second lifting connection plate 10206 to perform a lifting motion. Because the gasket pressing plate 10208 is connected to it, the gasket can be pressed tightly. After the limit cylinder 10204 is driven by compressed air to extend, the second lifting connection plate 10206 can obtain a stopped state at the middle position. Specifically, the translation slider 10202, the lifting cylinder 10203, and the limit cylinder 10204 are connected to the first lifting connection plate 10201, the second lifting connection plate 10206 is connected to the first lifting connection plate 10201 through the lifting device 10205, the gasket pressing plate 10208 and the buffer block 10207 are connected to the second lifting connection plate 10206, and the translation slider 10202 is connected to the translation slide rail 10104.

[0028] Moving pin device

[0029] As Figure 5As shown, the movable pin device 103 includes a movable pin cylinder 10301, a movable pin cylinder connecting plate 10302, and a movable pin 10303. The movable pin cylinder 10301 is driven to extend by compressed air, and then drives the movable pin 10303 to extend into the gasket positioning hole to achieve the function of limiting the gasket. Specifically, the movable pin cylinder 10301 is connected to the movable pin cylinder connecting plate 10302, the movable pin 10303 is connected to the movable pin cylinder 10301, and the movable pin cylinder connecting plate 10302 is connected to the movable pin connecting device 10103.

[0030] Working principle: The worker first places the brake on the position of the brake rack, and then presses the start button. The industrial robot 3 takes a photo through the integrated vision system 2, and obtains the relative coordinates of the installation positions of the brake and the front chassis through data processing. The industrial robot 3 grabs the brake and the gasket according to the specified process requirements through the integrated end device 1 and places them at the specified position of the front chassis.

[0031] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0032] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wind turbine rolling yaw brake assembly robot end device, characterized in that: The robot end device (1) comprises a rolling gripper device (101), a gasket pressure-blocking device (102) and a movable pin device (103); the gasket pressure-blocking device (102) is connected to the rolling gripper device (101) via a slide rail slider; the movable pin device (103) is connected to the rolling gripper device (101); the rolling gripper device (101) comprises an end connection device (10101), a floating connection plate (10102), a movable pin connection device (10103), a translational slide rail (10104), a gasket pressure-blocking translational cylinder device (10105), a floating cylinder (10106), an electrophoretic magnet connection plate (10107), an electrophoretic magnet (10108), a fixed pin device (10109), the end connection device (10101) is connected to the floating cylinder (10106) through the floating connection plate (10102); the movable pin connection device (10103) is connected to the electrophoretic magnet connection plate (10107); the translation slide rail (10104) is connected to the electrophoretic magnet connection plate (10107); the gasket pressure-blocking translation cylinder device (10105) is connected to the electrophoretic magnet connection plate (10107); the floating cylinder (10106) is connected to the electrophoretic magnet (10108) through the electrophoretic magnet connection plate (10107); the fixed pin device (10109) is connected to the electrophoretic magnet connection plate (10107).

2. The wind turbine rolling yaw brake assembly robot end device according to claim 1, characterized in that: The gasket pressure-blocking device (102) comprises a first lifting connection plate (10201), a translation slider (10202), a lifting cylinder (10203), a limiting cylinder (10204), a lifting device (10205), a second lifting connection plate (10206), a buffer block (10207), and a gasket pressure plate (10208); the translation slider (10202), the lifting cylinder (10203), and the limiting cylinder (10204) are connected to the first lifting connection plate (10201); the second lifting connection plate (10206) is connected to the first lifting connection plate (10201) via the lifting device (10205); the gasket pressure plate (10208) and the buffer block (10207) are connected to the second lifting connection plate (10206); and the translation slider (10202) is connected to the translation slide rail (10104).

3. The wind turbine rolling yaw brake assembly robot end device according to claim 1, characterized in that: The movable pin device (103) comprises a movable pin cylinder (10301), a movable pin cylinder connecting plate (10302), and a movable pin (10303); the movable pin cylinder (10301) is connected to the movable pin cylinder connecting plate (10302); the movable pin (10303) is connected to the movable pin cylinder (10301); and the movable pin cylinder connecting plate (10302) is connected to the movable pin connecting device (10103).

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