CN114310282A - Yaw variable pitch bolt recognition grabbing robot - Google Patents
Yaw variable pitch bolt recognition grabbing robot Download PDFInfo
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- CN114310282A CN114310282A CN202210101954.6A CN202210101954A CN114310282A CN 114310282 A CN114310282 A CN 114310282A CN 202210101954 A CN202210101954 A CN 202210101954A CN 114310282 A CN114310282 A CN 114310282A
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- clamping
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- pneumatic flexible
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- 238000001514 detection method Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- CWQXQMHSOZUFJS-UHFFFAOYSA-N molybdenum disulfide Chemical compound S=[Mo]=S CWQXQMHSOZUFJS-UHFFFAOYSA-N 0.000 description 1
- 229910052982 molybdenum disulfide Inorganic materials 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
A yaw variable pitch bolt recognition grabbing robot comprises a base and an automatic clamping and mounting head, wherein a robot clamping arm is mounted between the automatic clamping and mounting head and the base; the automatic clamping mounting head comprises a tail end connecting plate connected with the robot clamping arm, a clamping device for clamping bolts is mounted on the tail end connecting plate, the clamping device comprises a clamping mounting seat, and 2 pneumatic flexible clamping jaws for clamping the bolts are arranged on the clamping mounting seat; an automatic screwing device matched with the clamping device for screwing the bolt is arranged on the connecting plate at the tail end below the 2 pneumatic flexible clamping jaws, and a mounting position sensor for guiding the automatic screwing device to screw the bolt is arranged on one side of the automatic screwing device. The invention does not need the operation of operators, and has good safety performance and high working efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a yaw variable pitch bolt recognizing and grabbing robot.
Background
Wind energy is an available energy provided to human beings by air flow to do work, and belongs to renewable energy sources (including water energy, biological energy and the like). The kinetic energy of the air flow is called wind energy. The higher the air flow rate, the greater the kinetic energy. People can use a windmill to convert the kinetic energy of wind into rotary motion to drive a generator to generate electricity by transmitting the rotary power of a rotor (consisting of blades driven by aerodynamic force) to generate electricity through a transmission shaft.
Wind power is used for generating power with great importance at home and abroad, and with the rapid development of wind power generation technology, wind turbine generators are developing from constant speed and constant frequency to variable speed and constant frequency and from fixed pitch to variable pitch. The variable pitch wind turbine generator has become the mainstream model of the current wind turbine generator due to the advantages of capability of capturing wind energy to the maximum extent, stable output power, small stress of the generator and the like. The yaw and pitch bolt is used as one of core parts of the pitch-variable wind turbine generator and plays an important role in safe, stable and efficient operation of the generator.
The existing driftage and variable-pitch bolts are manually penetrated, and are screwed up by 2-3 buttons at first, then the bolts are driven by an electric wrench, finally the bolts are transferred to a robot platform through a crane, and then the driftage and variable-pitch bolts are automatically locked through a robot. This type of procedure requires the operator to work at an elevated height with a certain risk of falling. The manual tightening of the yaw and pitch bolts results in low consistency of the yaw and pitch bolts, and meanwhile, the working strength and the production cost of operators are increased. Therefore, it is necessary to develop a device with high efficiency and automatic operation.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, provides a yaw variable pitch bolt recognizing and grabbing robot which does not need operation of operators, avoids falling risks of the operators, has good safety performance and high working efficiency, and adopts the following specific scheme:
the invention relates to a yaw variable pitch bolt recognizing and grabbing robot which is characterized in that: the automatic clamping device comprises a base and an automatic clamping mounting head, wherein a robot clamping arm is arranged between the automatic clamping mounting head and the base; the automatic clamping and mounting head comprises a tail end connecting plate connected with the robot clamping arm, a clamping device for clamping bolts is mounted on the tail end connecting plate, the clamping device comprises a clamping and mounting seat, 2 pneumatic flexible clamping jaws for clamping the bolt and a lifting clamping driving device for driving the pneumatic flexible clamping jaws to move relatively are arranged on the clamping mounting seat, the 2 pneumatic flexible clamping jaws are connected with the lifting clamping driving device through a clamping jaw frame, a bolt position sensor for detecting the position of the bolt clamped by the pneumatic flexible clamping jaw is arranged above the space between the 2 pneumatic flexible clamping jaws and is fixedly connected with the clamping jaw frame, a slide rail which drives the lifting clamping driving device to move back and forth to facilitate the pneumatic flexible clamping jaw to grab the bolt is arranged on the clamping mounting seat, the lifting clamping driving device is arranged on the slide rail, and a moving driving device for driving the lifting clamping driving device to move is arranged on the clamping mounting seat; an automatic tightening device matched with the clamping device for tightening the bolts is arranged on a connecting plate at the tail end below the 2 pneumatic flexible clamping jaws, and a mounting position sensor for guiding the automatic tightening device to tighten the bolts is arranged on one side of the automatic tightening device; and a visual guide detection system for performing distance measurement detection on the position of the bearing bolt hole is arranged above the automatic tightening device.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the robot clamping arm comprises a first-stage clamping arm connected with the base and a second-stage clamping arm hinged with the automatic clamping mounting head end connecting plate, and the second-stage clamping arm is hinged with the first-stage clamping arm through a transversely arranged hinge shaft.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the 2 pneumatic flexible clamping jaws are symmetrically arranged.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the lifting clamping driving device comprises a clamping cylinder for controlling the relative movement of the 2 pneumatic flexible clamping jaws and a lifting cylinder for lifting the height position of the pneumatic flexible clamping jaw.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the bolt position sensor is arranged right above the centers of the 2 pneumatic flexible clamping jaws and is vertically arranged.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the moving driving device is a moving driving cylinder.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the automatic tightening device is an automatic wrench.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the opposite surfaces of the 2 pneumatic flexible clamping jaws are provided with clamping openings for clamping bolts.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: the mounting position sensor is transversely arranged.
In the technical scheme of the yaw variable pitch bolt recognizing and grabbing robot, the further preferable technical scheme is characterized in that: and a relay control box is also arranged on the tail end connecting plate.
Compared with the prior art, the bolt is positioned and grabbed through the vision camera arranged on the guide system, the grabbing adopts a flexible clamping jaw mode, the bolt is automatically placed into a required mounting hole after being automatically grabbed, and the bolt is automatically pre-tightened by using an electric wrench after being placed until all bolts are completely mounted. After the bolt is installed, the wrench head is switched to the hydraulic locking wrench side, and the final torque locking is carried out.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the automatic gripper mounting head of the present invention;
fig. 3 is a schematic perspective view of the automatic clamping and mounting head of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The bolt material rack automatically coated with molybdenum disulfide is transferred to a yawing variable pitch station for use; the bolt material vehicle needs to be placed at a position appointed by the robot, so that the robot can recognize and grab the bolt material vehicle conveniently; the robot quickly changes the wrench to the automatic grabbing side, and the positioning and grabbing of the bolt are carried out through a vision camera arranged on the guiding system. The grabbing adopts a flexible clamping jaw mode. After the bolt is automatically grabbed, the bolt is automatically placed in a required mounting hole, and after the bolt is placed, the bolt is automatically pre-tightened by using an electric wrench. (recognition of bolt position by vision camera) the same procedure is repeated until all bolts are installed. After the bolt is installed, the wrench head is switched to the hydraulic locking wrench side, and the final locking of the torque is carried out. The invention does not need the operation of operators, and has good safety performance and high working efficiency.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the inventive concept thereof within the scope of the present invention.
Claims (10)
1. The utility model provides a driftage becomes oar bolt identification and snatchs robot which characterized in that: the automatic clamping device comprises a base and an automatic clamping mounting head, wherein a robot clamping arm is arranged between the automatic clamping mounting head and the base; the automatic clamping and mounting head comprises a tail end connecting plate connected with the robot clamping arm, a clamping device for clamping bolts is mounted on the tail end connecting plate, the clamping device comprises a clamping and mounting seat, 2 pneumatic flexible clamping jaws for clamping the bolt and a lifting clamping driving device for driving the pneumatic flexible clamping jaws are arranged on the clamping mounting seat, the 2 pneumatic flexible clamping jaws are connected with the lifting clamping driving device through a clamping jaw frame, a bolt position sensor for detecting the position of the bolt clamped by the pneumatic flexible clamping jaw is arranged above the space between the 2 pneumatic flexible clamping jaws and is fixedly connected with the clamping jaw frame, a slide rail which drives the lifting clamping driving device to move back and forth to facilitate the pneumatic flexible clamping jaw to grab the bolt is arranged on the clamping mounting seat, the lifting clamping driving device is arranged on the slide rail, and a moving driving device for driving the lifting clamping driving device to move is arranged on the clamping mounting seat; an automatic tightening device matched with the clamping device for tightening the bolts is arranged on a connecting plate at the tail end below the 2 pneumatic flexible clamping jaws, and a mounting position sensor for guiding the automatic tightening device to tighten the bolts is arranged on one side of the automatic tightening device; and a visual guide detection system for performing distance measurement detection on the position of the bearing bolt hole is arranged above the automatic tightening device.
2. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the robot clamping arm comprises a first-stage clamping arm connected with the base and a second-stage clamping arm hinged with the automatic clamping mounting head end connecting plate, and the second-stage clamping arm is hinged with the first-stage clamping arm through a transversely arranged hinge shaft.
3. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the 2 pneumatic flexible clamping jaws are symmetrically arranged.
4. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the lifting clamping driving device comprises a clamping cylinder for controlling the relative movement of the 2 pneumatic flexible clamping jaws and a lifting cylinder for lifting the height position of the pneumatic flexible clamping jaw.
5. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the bolt position sensor is arranged right above the centers of the 2 pneumatic flexible clamping jaws and is vertically arranged.
6. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the moving driving device is a moving driving cylinder.
7. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the automatic tightening device is an automatic wrench.
8. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the opposite surfaces of the 2 pneumatic flexible clamping jaws are provided with clamping openings for clamping bolts.
9. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: the mounting position sensor is transversely arranged.
10. The yaw pitch bolt identification grabbing robot of claim 1, characterized in that: and a relay control box is also arranged on the tail end connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210101954.6A CN114310282A (en) | 2022-01-27 | 2022-01-27 | Yaw variable pitch bolt recognition grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210101954.6A CN114310282A (en) | 2022-01-27 | 2022-01-27 | Yaw variable pitch bolt recognition grabbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114310282A true CN114310282A (en) | 2022-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210101954.6A Pending CN114310282A (en) | 2022-01-27 | 2022-01-27 | Yaw variable pitch bolt recognition grabbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114310282A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122132A (en) * | 2022-08-01 | 2022-09-30 | 宁波江丰电子材料股份有限公司 | Method for robot to automatically replace cutter and automatically compensate cutter compensation |
| CN116460880A (en) * | 2023-05-06 | 2023-07-21 | 无锡市弘泰检测科技有限公司 | Mechanical arm for ray detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110048649A1 (en) * | 2008-01-30 | 2011-03-03 | Honda Motor Co., Ltd | Tire mounting device, tire mounting method, working device, and working method |
| CN106426185A (en) * | 2016-12-14 | 2017-02-22 | 大连扬天科技有限公司 | Automatic tightening system for wind power hub bolt robot |
| CN208067723U (en) * | 2018-02-15 | 2018-11-09 | 国电联合动力技术(赤峰)有限公司 | Equipment is installed in the automation of wheel hub pitch variable bearings |
| CN209850309U (en) * | 2019-05-02 | 2019-12-27 | 国电联合动力技术(赤峰)有限公司 | Wind power hub assembly line system |
| CN210819578U (en) * | 2019-10-15 | 2020-06-23 | 上海瓦鲁自动化技术有限公司 | Multifunctional gripper device for wind power bolt robot |
| CN211867017U (en) * | 2019-10-21 | 2020-11-06 | 航天智造（上海）科技有限责任公司 | Bolt grabbing and wire recognizing fastening system based on robot |
| CN112548549A (en) * | 2019-09-26 | 2021-03-26 | 天津新松机器人自动化有限公司 | Intelligent screw twisting mechanism |
-
2022
- 2022-01-27 CN CN202210101954.6A patent/CN114310282A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110048649A1 (en) * | 2008-01-30 | 2011-03-03 | Honda Motor Co., Ltd | Tire mounting device, tire mounting method, working device, and working method |
| CN106426185A (en) * | 2016-12-14 | 2017-02-22 | 大连扬天科技有限公司 | Automatic tightening system for wind power hub bolt robot |
| CN208067723U (en) * | 2018-02-15 | 2018-11-09 | 国电联合动力技术(赤峰)有限公司 | Equipment is installed in the automation of wheel hub pitch variable bearings |
| CN209850309U (en) * | 2019-05-02 | 2019-12-27 | 国电联合动力技术(赤峰)有限公司 | Wind power hub assembly line system |
| CN112548549A (en) * | 2019-09-26 | 2021-03-26 | 天津新松机器人自动化有限公司 | Intelligent screw twisting mechanism |
| CN210819578U (en) * | 2019-10-15 | 2020-06-23 | 上海瓦鲁自动化技术有限公司 | Multifunctional gripper device for wind power bolt robot |
| CN211867017U (en) * | 2019-10-21 | 2020-11-06 | 航天智造（上海）科技有限责任公司 | Bolt grabbing and wire recognizing fastening system based on robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122132A (en) * | 2022-08-01 | 2022-09-30 | 宁波江丰电子材料股份有限公司 | Method for robot to automatically replace cutter and automatically compensate cutter compensation |
| CN116460880A (en) * | 2023-05-06 | 2023-07-21 | 无锡市弘泰检测科技有限公司 | Mechanical arm for ray detection device |
| CN116460880B (en) * | 2023-05-06 | 2023-11-07 | 无锡市弘泰检测科技有限公司 | Mechanical arm for ray detection device |
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Application publication date: 20220412 |