Wind power sliding yaw brake assembly robot tail end device

Abstract

The utility model relates to the technical field of automation equipment, in particular to a wind power sliding yaw brake assembly robot end device which comprises a robot end device body, a visual system and an industrial six-axis robot, and the robot end device body comprises an axial floating connecting device and a sliding gripper device. According to the tail end device of the sliding yaw brake assembling robot, automatic taking and placing of the sliding yaw brake are achieved through the sliding gripper device; the sliding yaw brake is precisely positioned through a pin fixing device; self-adaptive installation of the sliding brake is achieved through the angular floating device, manual operation is basically not needed, and the production efficiency which is more than two times that of manual operation can be achieved; according to the tail end device of the sliding yaw brake assembly robot, only manual participation is needed in the feeding process, and other actions are automatically completed by the tail end device of the sliding yaw brake assembly robot.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to an end device of a wind power sliding yaw brake assembly robot. Background Art

[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 sliding yaw brake is provided by a disc spring, and the clamping force can be adjusted by adjusting bolts to obtain a specified clamping force.

[0004] Currently, the adjusting bolts rely entirely on manual operation, which not only reduces the installation efficiency, but also has low efficiency and high risk during docking. Summary of the Utility Model

[0005] The technical problem to be solved by the utility model is: the installation efficiency of the sliding yaw brake is not high, manpower is wasted, the efficiency is low during manual docking, and the risk coefficient is high.

[0006] The technical solution adopted by the utility model to solve its technical problem is: an end device of a wind power sliding yaw brake assembly robot, including a robot end device body, a vision system and an industrial six-axis robot. The robot end device body includes an axial floating connection device and a sliding gripper device, and the axial floating connection device is connected to the sliding gripper device.

[0007] Preferably, the axial floating connection device includes an end connection device, a floating connection plate, a floating cylinder, a connection plate, a translation slide rail, and a translation cylinder. The end connection device is connected to the floating cylinder through the floating connection plate; the connection plate is connected to the floating cylinder; the translation slide rail is connected to the connection plate; the translation cylinder is connected to the connection plate.

[0008] Preferably, the sliding gripper device includes a translation slider, a rotation connection plate, a limit cylinder, a limit device, an electrophoresis magnet, an angular floating device, a translation connection plate, and a dowel pin device. The translation slider, the limit cylinder, and the translation connection plate are connected to the rotation connection plate; the limit device, the angular floating device, and the dowel pin device are connected to the electrophoresis magnet.

[0009] Preferably, the angular floating device includes a mounting base, a thrust ball bearing, a moving deep groove ball bearing, a connecting shaft, a locking nut, and a lock plate; the angular floating device is connected to the rotating connecting plate; the connecting shaft is connected to the electrophoresis magnet; the connecting shaft and the mounting base are connected through the thrust ball bearing and the moving deep groove ball bearing to achieve rotation and are locked by the locking nut; the lock plate is connected to the connecting shaft to prevent the locking nut from loosening.

[0010] Preferably, both the robot end device and the vision system are installed at the end position of the sixth axis of the industrial six-axis robot.

[0011] The beneficial effects of the present utility model are as follows:

[0012] (1) For the robot end device of the sliding yaw brake assembly of the present utility model, the automatic picking and placing of the sliding yaw brake is realized through the sliding gripper device; the precise positioning of the sliding yaw brake is carried out through the dowel pin device; the adaptive installation of the sliding brake is realized through the angular floating device, basically without manual operation, and the production efficiency can reach more than twice that of manual operation;

[0013] (2) Only the feeding process of the robot end device of the sliding yaw brake assembly of the present utility model requires manual participation, and the rest of the actions are automatically completed by the robot end device of the sliding yaw brake assembly;

[0014] (3) 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;

[0015] (4) The robot end device of the sliding yaw brake assembly adopts a modular design, and by replacing the mounting flange with the sixth axis of the robot, it can be applied to different models of robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present utility model will be further described below in conjunction with the drawings and embodiments;

[0017] Figure 1 is the installation schematic diagram of the present utility model;

[0018] Figure 2 is the schematic diagram of the present utility model;

[0019] Figure 3 is the schematic diagram of the axial floating connection device of the present utility model;

[0020] Figure 4 is the schematic diagram of the sliding gripper device of the present utility model;

[0021] Figure 5 is the schematic diagram of the angular floating device of the present utility model.

[0022] In the figure: 1. Robot end device body; 2. Vision system; 3. Industrial robot; 101. Axial floating connection device; 10101. End connection device; 10102. Floating connection plate; 10103. Floating cylinder; 10104. Connection plate; 10105. Translation slide rail; 10106. Translation cylinder; 102. Sliding gripper device; 10201. Translation slider; 10202. Rotating connection plate; 10203. Limit cylinder; 10204. Limit device; 10205. Electrophoresis magnet; 10206. Angular floating device; 1020601. Mounting seat; 1020602. Thrust ball bearing; 1020603. Dynamic deep groove ball bearing; 1020604. Connecting shaft; 1020605. Locking nut; 1020606. Anti-loosening pressure plate; 10207. Translation connection plate; 10208. Dowel pin device. Detailed implementation mode

[0023] Now, the present utility model will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic manner, so they only show the components related to the present utility model.

[0024] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0025] As Figure 1 and Figure 2 shown, a wind power sliding yaw brake assembly robot end device includes a robot end device body 1, a vision system 2, and an industrial six-axis robot 3. The robot end device body 1 and the vision system 2 are fixed to the six-axis end of the six-axis robot 3, and the brake is picked and placed according to the data provided by the vision system 2.

[0026] This device includes an axial floating connection device 101 and a sliding gripper device 102, and the axial floating connection device 101 is connected to the sliding gripper device 102.

[0027] As Figure 3 shown, the axial floating connection device 101 includes an end connection device 10101, a floating connection plate 10102, a floating cylinder 10103, a connection plate 10104, a translation slide rail 10105, and a translation cylinder 10106;

[0028] Specifically, the end connection device 10101 is connected to the floating cylinder 10103 through the floating connection plate 10102. The connection plate 10104 is connected to the floating cylinder 10103. The translation slide rail 10105 is connected to the connection plate 10104. The translation cylinder 10106 is connected to the connection plate 10104.

[0029] Operating principle

[0030] The floating cylinder 10102 is driven by compressed air, and then drives the connection plate 10104 to translate, enabling it to have buffering ability in the vertical direction; the translation cylinder 10106 is driven by compressed air, and then drives the sliding gripper device 102 to translate, enabling it to have buffering ability in the horizontal direction.

[0031] As Figure 4 shown, the sliding gripper device 102 includes a translation slider 10201, a rotation connection plate 10202, a limit cylinder 10203, a limit device 10204, an electrophoresis magnet 10205, an angular floating device 10206, a translation connection plate 10207, and a dowel pin device 10208;

[0032] Specifically, the translation slider 10201, the limit cylinder 10203, and the translation connection plate 10207 are connected to the rotation connection plate 10202. The limit device 10204, the angular floating device 10206, and the dowel pin device 10208 are connected to the electrophoresis magnet 10205.

[0033] Operating principle

[0034] The limit cylinder 10203 is driven by compressed air, and then drives the electrophoresis magnet 10205 to achieve angular floating. The electrophoresis magnet 10205 has magnetism controlled by an electromagnetic coil, and through the precise guidance of the dowel pin device 10208, the brake can be accurately grasped.

[0035] As Figure 5 shown, the angular floating device 10206 includes a mounting seat 1020601, a thrust ball bearing 1020602, a dynamic deep groove ball bearing 1020603, a connecting shaft 1020604, a locking nut 1020605, and a lock plate 1020606;

[0036] Specifically, the angular floating device 10206 is connected to the rotation connection plate 10202. The connecting shaft 102060 is connected to the electrophoresis magnet 10205. The connecting shaft 1020604 is connected to the mounting seat 1020601 through the thrust ball bearing 1020602 and the dynamic deep groove ball bearing 1020603 to achieve rotation and is locked by the locking nut 1020605. The lock plate 1020606 is connected to the connecting shaft 1020604 to prevent the locking nut 1020605 from loosening.

[0037] Operating principle

[0038] The connecting shaft 1020604 is connected to the inner rings of the thrust ball bearing 1020602 and the moving deep groove ball bearing 1020603, and is driven by the limit cylinder 10203, thereby driving the angular rotation of the electrophoresis magnet 10205 connected thereto.

[0039] Overall working principle: The worker first places the brake on 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 according to the specified process requirements through the integrated robot end device body 1 and places it at the specified position of the front chassis.

[0040] 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 also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

[0041] Inspired by the above ideal embodiments of the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A wind turbine sliding yaw brake assembly robot end device, comprising a robot end device body (1), a visual system (2) and an industrial six-axis robot (3), wherein: The robot end device body (1) comprises an axial floating connection device (101) and a sliding gripper device (102), wherein the axial floating connection device (101) is connected to the sliding gripper device (102).

2. The wind power sliding yaw brake assembly robot end device according to claim 1 is characterized by: The axial floating connection device (101) comprises an end connection device (10101), a floating connection plate (10102), a floating cylinder (10103), a connection plate (10104), a translation slide rail (10105), and a translation cylinder (10106); the end connection device (10101) is connected to the floating cylinder (10103) via the floating connection plate (10102); the connection plate (10104) is connected to the floating cylinder (10103); the translation slide rail (10105) is connected to the connection plate (10104); and the translation cylinder (10106) is connected to the connection plate (10104).

3. The wind power sliding yaw brake assembly robot end device according to claim 1 is characterized by: The sliding gripper device (102) comprises a translational slider (10201), a rotating connecting plate (10202), a limiting cylinder (10203), a limiting device (10204), an electrophoretic magnet (10205), an angular floating device (10206), a translational connecting plate (10207), and a pinning device (10208); the translational slider (10201), the limiting cylinder (10203), and the translational connecting plate (10207) are connected to the rotating connecting plate (10202); and the limiting device (10204), the angular floating device (10206), and the pinning device (10208) are connected to the electrophoretic magnet (10205).

4. The wind power sliding yaw brake assembly robot end device according to claim 3 is characterized by: The angular floating device (10206) comprises a mounting seat (1020601), a thrust ball bearing (1020602), a dynamic deep groove ball bearing (1020603), a connecting shaft (1020604), a locking nut (1020605), and an anti-loosening pressure plate (1020606); The angular floating device (10206) is connected to the rotating connecting plate (10202); the connecting shaft (1020604) is connected to the electrophoretic magnet (10205); the connecting shaft (1020604) and the mounting seat (1020601) are connected to the thrust ball bearing (1020602) and the dynamic deep groove ball bearing (1020603) to achieve rotation and are locked by the locking nut (1020605); the anti-loosening pressure plate (1020606) is connected to the connecting shaft (1020604) to achieve anti-loosening of the locking nut (1020605).

5. The wind power sliding yaw brake assembly robot end device according to claim 1 is characterized by: The robot end device body (1) and the visual system (2) are both installed at the six-axis end positions of the industrial six-axis robot (3).

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