Gas turbine burner installation device

Abstract

This utility model belongs to the field of burner technology, specifically disclosing a gas turbine burner installation device. The gas turbine burner installation device includes a robotic arm, a positioning component, a position detection component, and a controller. The robotic arm and the positioning component are detachably connected, and the robotic arm is used to hold the robotic arm. The positioning component is disposed within the gas turbine housing, and the position detection component is disposed within the robotic arm to obtain the burner's installation position information through the cooperation of the positioning component and the position detection component. The controller is electrically connected to the position detection component and is used to control the movement of the robotic arm based on the burner's installation position information obtained by the position detection component. This utility model facilitates burner installation, reduces installation workload, and improves installation efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of burner installation technology, specifically relating to a gas turbine burner installation device. Background Technology

[0002] The diameter of the installation location of the burner of a heavy-duty gas turbine can reach several meters or even more than ten meters. During the installation process, it is necessary to rebuild the construction platform and hangers according to the different heights and left and right sides of the burner position, and adjust the construction plan. The workload is large and the installation efficiency is low. Utility Model Content

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention provide a gas turbine burner installation device that facilitates burner installation, reduces installation workload, and improves installation efficiency.

[0004] The gas turbine burner installation device of this utility model includes: a robotic arm and a robotic hand, the robotic arm being detachably connected to the robotic arm, the robotic arm being used to grip the robotic arm; a positioning element and a position detection element, the positioning element being disposed inside the gas turbine housing, the position detection element being disposed on the robotic arm, so as to obtain the installation position information of the burner through the cooperation of the positioning element and the position detection element; and a controller, the controller being electrically connected to the position detection element, the controller being used to control the movement of the robotic arm according to the installation position information of the burner obtained by the position detection element.

[0005] When using the gas turbine burner installation device in this embodiment, a robotic arm is connected to a robotic arm. Following a predetermined path, the robotic arm with the robotic arm installed is moved to the vicinity of the desired gas turbine installation location. The burner installation location information is obtained through the cooperation of positioning and gripping devices and position detection components, and fed back to the controller. The controller then controls the robotic arm to grip the burner and moves it according to the burner's installation location information to install the burner. Once the burner's installation location is determined, the connection between the burner and the robotic arm is disconnected, completing the installation. The burner is installed through the cooperation of the robotic arm and robotic arm, eliminating the need for an installation platform or hanger, which improves the convenience and efficiency of installation.

[0006] In this embodiment, the gas turbine burner installation device further includes a guide assembly, which includes a first connector and a second connector. The first connector is disposed on the robotic arm, and the second connector is disposed on the robotic hand, so as to limit the robotic hand through the cooperation of the first connector and the second connector.

[0007] In this embodiment, the first connecting member is a first flange, the second connecting member is a second flange, and the first flange and the second flange are connected by the connecting member.

[0008] In this embodiment, the position detection device is a photoelectric sensor, a proximity sensor, or a force sensor.

[0009] In this embodiment, the gripping part of the robotic arm is a three-jaw gripping part.

[0010] In this embodiment, the gas turbine burner installation device further includes a measuring element, which is mounted on a robotic arm and electrically connected to the controller. The measuring element is used to detect the positional accuracy of the burner after installation.

[0011] In this embodiment, the measuring element includes an image acquisition element, which is used to acquire image information of the burner in its installed state.

[0012] In this embodiment, the gas turbine burner mounting device also includes a remote controller, which is communicatively connected to the controller.

[0013] In this embodiment, the positioning element is a positioning pin, positioning groove, positioning protrusion, or positioning block disposed within the casing of the gas turbine. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the gas turbine burner mounting device according to an embodiment of the present invention, showing the burner installed in the gas turbine state;

[0015] Figure 2 This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present invention.

[0016] Figure label:

[0017] 100. Gas turbine; 110. Gas turbine casing; 200. Combustor;

[0018] 1. Robotic arm; 2. Robotic hand; 3. Position detection component; 4. Remote control; 5. Controller; 6. Positioning component. Detailed Implementation

[0019] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the embodiments of this application, such as Figure 1 and Figure 2As shown, the gas turbine burner installation device includes a robotic arm 2, a robotic arm 1, a positioning component 6, a position detection component 3, and a controller 5. The robotic arm 2 is detachably connected to the robotic arm 1 and is used to hold the robotic arm 1. The positioning component 6 is disposed inside the gas turbine housing 110, and the position detection component 3 is disposed on the robotic arm 2 to obtain the installation position information of the burner 200 through the cooperation of the positioning component 6 and the position detection component 3. The controller 5 is electrically connected to the position detection component 3 and is used to control the movement of the robotic arm 2 according to the installation position information of the burner 200 obtained by the position detection component 3.

[0021] When using the gas turbine burner installation device in this embodiment, the robotic arm 2 is connected to the robotic arm 1. Following a predetermined path, the robotic arm 1 with the robotic arm 2 installed is moved to the vicinity of the desired gas turbine installation location. The installation position information of the burner 200 is obtained through the cooperation of the positioning gripper and the position detection component 3, and fed back to the controller 5. The controller then controls the robotic arm 2 to grip the burner 200 and moves it according to the burner 200's installation position information to install the burner 200. After the installation position of the burner 200 is determined, the connection between the burner 200 and the robotic arm 2 is disconnected, completing the installation. The burner 200 is installed through the cooperation of the robotic arm 2 and the robotic arm 1, eliminating the need for an installation platform or hanger, which improves the convenience and efficiency of the installation.

[0022] In this embodiment, the gas turbine burner installation device further includes a guide assembly, which includes a first connector and a second connector. The first connector is disposed on the robotic arm 1, and the second connector is disposed on the robotic hand 2, so as to limit the robotic hand 2 by the cooperation of the first connector and the second connector.

[0023] It is understandable that by setting a first connector on the robotic arm 1 and a second connector on the robotic hand 2, the robotic hand 2 is limited by the cooperation of the first and second connectors, which helps to ensure that the robotic hand 2 maintains a precise direction and position during movement.

[0024] In this embodiment, the first connecting member is a first flange, the second connecting member is a second flange, and the first flange and the second flange are connected by the connecting member.

[0025] Specifically, the first flange is provided with multiple first connection holes, and the second flange is provided with multiple second connection holes corresponding to the first connection holes. Correspondingly, multiple connectors are provided, each connector passing through a first connection hole and a corresponding second connection hole, thereby fixing the robot arm 2. For example, the connectors can be connecting bolts.

[0026] It is understandable that by setting a first connecting flange on the robotic arm 1 and a second connecting flange on the robotic hand 2, and connecting the first flange and the second flange through a connector, the robotic hand 2 is positioned by the connection of the first connecting flange and the second connecting flange, which also helps to ensure the stability of the connection between the robotic hand 2 and the robotic arm 1, thereby improving the accuracy of the positioning of the burner 200 when the robotic hand 2 grips the burner 200.

[0027] In this embodiment, the position detection element 3 is a photoelectric sensor, a proximity sensor, or a force sensor.

[0028] As is understandable, photoelectric sensors utilize the photoelectric effect, the phenomenon where matter generates electron movement after being exposed to light. In this process, the light signal is converted into a measurable electrical signal, thereby enabling position detection. Proximity sensors detect changes in the light intensity received by their receivers, and this change is converted into an electrical signal, allowing the determination of the required installation location of the burner 200. Force sensors detect the reaction force acting on the robotic arm 2, enabling precise control and adjustment of its movement. Photoelectric sensors, proximity sensors, and force sensors are all conventional existing technologies, and their working principles and connection methods will not be detailed here.

[0029] In this embodiment, the positioning element 6 is a positioning pin, positioning groove, positioning protrusion, or positioning block disposed in the gas turbine housing 110.

[0030] The positioning element 6 can be configured as a positioning pin, positioning groove, positioning protrusion or positioning block. While achieving positioning of the burner 200, the positioning structure can be simplified and the processing can be made easier.

[0031] In this embodiment, as Figure 2 As shown, the gripping part of the robotic arm 2 is a three-jaw gripping part.

[0032] It should be noted that the gripping part of the robotic arm 2 is a three-jaw gripping part, that is, the robotic arm 2 is equipped with three grippers, which are evenly distributed around its central axis. When the robotic arm 2 grips the burner 200, the three grippers can form a stable and reliable gripping force on the burner 200. The structure of the gripping part of the robotic arm 2 for gripping and fixing objects is conventional existing technology, and the specific working principle and structure will not be described in detail here.

[0033] In this embodiment, the gas turbine burner installation device also includes a measuring element, which is mounted on the manipulator 2 and electrically connected to the controller 5. The measuring element is used to detect the positional accuracy of the burner 200 after installation.

[0034] It is understandable that by setting a measuring device, the accuracy of the installation position of the burner 200 can be checked after installation. If the position of the burner 200 is accurate, the installation is completed. If the installation position is inaccurate, the position of the burner 200 can be adjusted by the robotic arm 2, which helps to improve the installation accuracy of the burner 200.

[0035] In this embodiment, the measuring element includes an image acquisition element, which is used to acquire image information of the burner in its installed state.

[0036] For example, the image acquisition device can be a CCD camera.

[0037] It is understandable that the image acquisition device can acquire image information of the burner 200 in its installed state, and based on the image information, measure the gap, angle or other relevant parameters between the burner 200 and the housing to determine whether the installation position of the burner 200 is accurate.

[0038] In this embodiment, as Figure 1 As shown, the gas turbine burner mounting device also includes a remote controller 4, which is connected to the controller 5.

[0039] It is understandable that by setting the remote controller 4 to send control commands to the controller 5, the controller 5 can control the corresponding components to perform actions according to the corresponding control commands, which helps to improve the convenience of operation.

[0040] When installing the burner 200 using the gas turbine burner mounting device in this embodiment, the following steps are taken:

[0041] S100, the second flange of the robotic arm 2 is installed on the first flange at the end of the robotic arm 1. After checking that the installation accuracy is correct, tighten the mounting bolts to the specified torque. Then, connect the power cable, signal control line, and other cables between the robotic arm 2 and the robotic arm 1. After testing that the connection path is correct, perform zero-point calibration, test the range of motion of each joint, and verify the clamping force parameters of the entire assembly to ensure that the entire system meets the usage requirements. The robotic arm 2, together with the robotic arm 1, has multi-dimensional operation capabilities such as rotation, extension, and swing. Through the combination of the remote controller 4 and the control controller 5, the operator can remotely control the movement of the robotic arm 2.

[0042] S200: Move the robotic arm 1 with the installed robotic arm 2 along the predetermined path to the vicinity of the location where the burner 200 needs to be installed. Under the premise of ensuring that the operating space requirements are met, activate the electromagnetic lock / mechanical bayonet and other fixing devices of the modular robotic arm 1 base to complete the fixing of the modular robotic arm 1. Then, perform a stability check after fixing and send a fixing completion signal to the controller 5. After receiving the fixing completion signal, the controller 5 unlocks the next operation process.

[0043] S300: After robotic arm 1 reaches and fixes itself in the predetermined position, the robot's basic coordinate system is redefined through the robotic arm's built-in program. With the cooperation of photoelectric sensors, proximity sensors, or force sensors installed on robotic arm 2, and auxiliary positioning structures such as positioning pins, slots, protrusions, or blocks designed within the gas turbine 100 housing, the initial positioning of the burner 200 within the gas turbine 100 housing is completed. The precise position information is fed back to the controller 5 through the measuring components of robotic arm 2, enabling robotic arm 2 to accurately locate the installation position when installing the burner 200.

[0044] In S400, the operator uses the remote controller 4 and the controller 5 to control the robotic arm 1's end effector 2, adjusting the relative position, gripper posture, and opening size of the robotic arm 2 and burner 200 to fit the burner 200's shape. Then, a precise gripping force is applied to complete the clamping. The robotic arm 2 carries the burner 200 along a preset path, with force sensors on the robotic arm 2 monitoring the movement in real time to ensure stability. After the robotic arm 1 moves the burner 200 to near the target position, the measuring element on the robotic arm 2 compares the measured parameters with the pre-positioned information, providing real-time feedback on the burner 200's installation status. The controller 5, based on this feedback, assists the operator in precisely adjusting the installation position to ensure the correct fit between the burner 200 and the housing.

[0045] After installation (S500), the measuring system on the robotic arm 2 will inspect key points at the burner 200's installation location to ensure it is accurately positioned. This can also be achieved by measuring the gap, angle, or other relevant parameters between the burner 200 and the housing. If the inspection results do not meet requirements, the controller 5 will activate an alarm and instruct the operator to make necessary adjustments.

[0046] S600, the installation position is confirmed, and the burner 200 is stably installed inside the gas turbine 100 housing. The operator can stop the operation of the robot arm 2 through the controller 5 and disconnect the burner 200 from the robot arm 2 to complete the installation of the burner 200.

[0047] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0050] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A gas turbine burner installation device, characterized in that, include: A robotic hand and a robotic arm, wherein the robotic hand is detachably connected to the robotic arm and the robotic hand is used to grip the robotic arm; The positioning component is disposed inside the gas turbine housing, and the position detection component is disposed on the robotic arm, so as to obtain the installation position information of the burner through the cooperation of the positioning component and the position detection component; A controller, electrically connected to the position detection device, is used to control the movement of the robotic arm based on the burner's installation position information obtained by the position detection device.

2. The gas turbine burner mounting device according to claim 1, characterized in that, It also includes a guide assembly, which includes a first connector and a second connector. The first connector is disposed on the robotic arm, and the second connector is disposed on the robotic hand, so as to limit the robotic hand through the cooperation of the first connector and the second connector.

3. The gas turbine burner installation device according to claim 2, characterized in that, The first connecting member is a first flange, and the second connecting member is a second flange. The first flange and the second flange are connected by the connecting member.

4. The gas turbine burner mounting device according to claim 1, characterized in that, The position detection device is a photoelectric sensor, a proximity sensor, or a force sensor.

5. The gas turbine burner mounting device according to claim 1, characterized in that, The gripping part of the robotic arm is a three-jaw gripping part.

6. The gas turbine burner mounting device according to claim 1, characterized in that, It also includes a measuring element, which is mounted on the robotic arm and electrically connected to the controller. The measuring element is used to detect the positional accuracy of the burner after installation.

7. The gas turbine burner mounting device according to claim 6, characterized in that, The measuring element includes an image acquisition element, which is used to acquire image information of the burner in its installed state.

8. The gas turbine burner mounting device according to claim 1, characterized in that, It also includes a remote controller, which is communicatively connected to the controller.

9. The gas turbine burner mounting device according to claim 1, characterized in that, The positioning element is a positioning pin, positioning groove, positioning protrusion, or positioning block disposed within the casing of the gas turbine.

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