CN205892505U - Manipulator of fan blade hoist - Google Patents

Abstract

The utility model discloses a manipulator of fan blade hoist, including motor, mounting panel and electronic slip table, on the mounting panel is located to electronic slip table, the mounting panel still includes perpendicular arm, xarm and swing arm on being fixed in the fan blade hoist, the motor including locate the mounting panel with a perpendicular servo motor between the arm, locate no. Two servo motor between perpendicular arm and the xarm to and locate no. Three servo motor between xarm and the swing arm, no. One the perpendicular arm of servo motor drives rotates along the Y axle, and no. Two the servo motor drives xarm rotates along the X axle, and no. Three servo motor drives swing arms are rotated along the Z axle. The manipulator is taken in hanging of fan blade hoist, and the replacement manual work is aloft hung the fan blade on the fan blade hoist through the fan blade suspender, does not take place the interference with the fan blade when making the fan blade hoist operation behind the mechanical hand of installation, and the danger of having avoided the operator to operate has aloft realized remote operation, no artificial intervention, and degree of automation is high.

Description

A kind of mechanical hand of fan blade suspender

Technical field

This utility model is related to a kind of mechanical hand, and in more particularly, to a kind of wind power generating set, during fan blade dismounting, fan blade hangs Used on tool, for split type progressively lift by crane be linked with mechanical hand, belong to fan blade generating aid field.

Background technology

The lifting of fan blade mainly has two ways, and a kind of monoblock type applying to the lifting of small wind unit fan blade rises Hang, a kind of split type progressively lifting applying to the lifting of large-scale wind electricity unit fan blade.

Due to being located at land or the ocean area that wind resource enriches Wind turbines infield, for more large-scale more Fan blade is used for sea, lifting or all extremely inconvenience of dismounting fan blade.Being stepped up with Wind turbines, the entering of installed capacity One step increases, and also has different technical needs to the hoisting of lifting fan blade from suspender.

At present, mostly the fan blade suspender using at home is to buy external product, all exist in use or many or Few inconvenience.The installation of Wind turbines needs reform of nature environment, service-strong hanging device and suspender, and each is required All very strict, wherein fan blade suspender is then its requisite critical equipment, either lifts by crane or dismounting fan blade or fan blade Aerial statue adjustment etc. be required to fan blade suspender to complete, so its fan blade safety lifting during effect very heavy Will.The production domesticization of fan blade suspender can reduces cost, expand its suitability.

As Application No.: cn201410143354.1, in a kind of split type mounting process of invention entitled offshore wind turbine State's patent of invention, it discloses a kind of processing step of the split type installation of offshore wind turbine: offshore wind farm mounting platform positioning first It is lifted to assembling place；At sea on wind-powered electricity generation mounting platform, fan blade is assembled with wheel hub；Wind wheel assembling is pacified after finishing The contents of dress tower；Contents hang installation three section tower on catheterostat successively after installing；Cabin is lifted into top The top of head tower cylinder；Impeller entirety turnover hoisting；Impeller integral hoisting puts in place.The present invention has and solves coastal waters and deep-sea wind-powered electricity generation The problem of live partial installation, eliminates needs and integrally first installs offshore wind power equipment on harbour, more whole machine transport to Fabricating yard carries out secondary installing；Greatly reduce construction cost, decrease construction link, greatly reduce security risk, The advantage accelerating the efficiency of offshore wind turbine installation.

But, during the split type mounting process of this blower fan, do not refer to the concrete structure of fan blade suspender.

Utility model content

The purpose of this utility model is: provides a kind of mechanical hand of fan blade suspender, when fan blade suspender dismantles wind in high-altitude Ye Shi, is linked with mechanical hand by this and suspension ring that are linked with of suspender belt is carried out buckling operation；Thus can effectively solve the problem that above-mentioned existing skill Problem present in art.

This utility model purpose is realized by following technical proposals: a kind of mechanical hand of fan blade suspender, including motor, peace Dress plate and electronic slide unit, on installing plate, described installing plate is fixed on fan blade suspender electronic slide unit, also include upright arm, Transverse arm and swing arm, motor includes a servomotor between installing plate and upright arm, between upright arm and transverse arm No. two servomotors, and No. three servomotors between transverse arm and swing arm；Number servomotor drives upright arm along y Axle rotates, and No. two servomotors drive transverse arm to rotate along x-axis, and No. three servomotors drive swing arm to rotate along z-axis.

As a kind of optimal way, described swing arm includes swing arm canned paragraph and swing arm active segment, and swing arm active segment lower end is put In swing arm canned paragraph upper end, and fixed by regulating bolt.

As further preferred embodiment, also include being linked with suspension ring and suspension ring holder, be linked with suspension ring and pass through suspension ring holder It is fixed on the top end of swing arm active segment.

As a kind of optimal way, also include linear guides and mounting bracket, linear guides located at the both sides of electronic slide unit, Mounting bracket is slidably fixed on linear guides, and a servomotor is fixed on installing plate by mounting bracket.

As a kind of optimal way, upright arm becomes 90 degree of settings with transverse arm, and upright arm is be arranged in parallel with swing arm.

As a kind of optimal way, described motor comprises rv decelerator.

Compared with prior art, the beneficial effects of the utility model: fan blade suspender described in the utility model be linked with machinery Handss, are replaced manually by fan blade suspender belt, fan blade being suspended on fan blade suspender in high-altitude, so that the fan blade after installation manipulator is hung Do not interfere with fan blade during tool operation, it is to avoid operator high-altitude application danger it is achieved that remote operation, prosthetic Intervene, high degree of automation.

Brief description

Fig. 1 is structural representation of the present utility model.

Fig. 2 is the structural representation at installing plate and mounting bracket in this utility model.

When Fig. 3 is the decentralization of fan blade suspender, the position view of mechanical hand.

Fig. 4 is that after the decentralization of fan blade suspender puts in place, upright arm rotates clockwise 90 degree of position view.

Fig. 5 is the schematic diagram of swing arm rotating opening in Fig. 4.

Fig. 6 is that in Fig. 5, swing arm is gone to position schematic diagram by 90 degree of transverse arm rotation.

Wherein: lower carriage -101 of fan blade suspender carriage assembly, upright arm -1, transverse arm -2, swing arm canned paragraph -3, swing arm is lived Dynamic section -4, installing plate -5, linear guides -6, electronic slide unit -7, mounting bracket -8, it is linked with suspension ring -9, suspension ring holder -10, one Number servomotor -11, No. two servomotor -12, No. three servomotor -13, regulating bolt -14.

Specific embodiment

In order that the purpose of this utility model, technical scheme and advantage become more apparent, with reference to embodiments, to this Utility model is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain this practicality New, it is not used to limit this utility model.

All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive Speciality and/or step beyond, all can combine by any way, unless specifically stated otherwise, all can be equivalent or there is class by other Alternative features like purpose are replaced, i.e. unless specifically stated otherwise, in a series of equivalent or similar characteristics of each feature Individual embodiment.

Embodiment:

As shown in figures 1 to 6, including upright arm 1, transverse arm 2, swing arm, motor, installing plate 5, electronic slide unit 7, linear guides 6, Mounting bracket 8, it is linked with suspension ring 9 and suspension ring holder 10.Described motor comprises rv decelerator.

It is linked with the top end that suspension ring 9 are fixed on swing arm active segment 4 by suspension ring holder 10.It is linked with for fixation and hang Ring.The suspension ring that are linked with putting on suspender belt are sent into operating position by the coordination exercise passing through three axles during work, wait fan blade locking of lifting appliance It is linked with the instruction of suspension ring.

On installing plate 5, described installing plate 5 is fixed on the lower carriage 101 of fan blade suspender carriage assembly to electronic slide unit 7 On, located at the both sides of electronic slide unit 7, mounting bracket 8 is slidably fixed on linear guides 6 linear guides 6, a servomotor 11 It is fixed on installing plate 5 by mounting bracket 8.Installing plate is fixed on fan blade suspender, by with slide unit, linear guides, peace Being coupled to each other and hang on mechanical hand on fan blade suspender between dress support, done by electronic slide unit driving machine tool handss rise, under The motion of fall.

Motor include a servomotor 11 between installing plate 5 and upright arm 1, located at upright arm 1 and transverse arm 2 it Between No. two servomotors 12, and located at No. three servomotors 13 between transverse arm 2 and swing arm；A number servomotor 11 drives Upright arm 1 rotates along y-axis, and No. two servomotors 12 drive transverse arm 2 to rotate along x-axis, and No. three servomotors 13 drive swing arm along z-axis Rotate.Upright arm 1 becomes 90 degree of settings with transverse arm, and upright arm 1 and swing arm be arranged in parallel.

Described swing arm includes swing arm canned paragraph 3 and swing arm active segment 4, and swing arm active segment 4 lower end is placed on swing arm canned paragraph 3 In end and fixing by regulating bolt 14.Swing arm active segment and swing arm canned paragraph are to be slidably matched, and adjust stretching of swing arm active segment Go out length and can change the length of swing arm to adapt to different fan blade models, by regulating bolt by swing arm active segment and swing arm canned paragraph Join for entirety.

The mechanical hand that is linked with described in the utility model is only just installed and used when fan blade is dismantled, and its objective is to replace manually Fan blade is suspended on fan blade suspender by fan blade suspender belt in high-altitude, in order that when the fan blade suspender after installation manipulator operates Do not interfere with fan blade, swing arm of manipulator again can automatic in-position, thus devise three rotary shafts and realize this function, respectively For can rotate along the x-axis direction upright arm, along y direction rotate transverse arm and along z direction rotate swing arm.Mechanical hand is pacified Before being attached to fan blade suspender, according to the fan blade specification dismantled, to adjust the length of swing arm beforehand through regulating bolt.

During the decentralization of fan blade suspender, gripper pose becomes horizontal as shown in figure 3, mechanical arm all withdraws with fan blade.

After the decentralization of fan blade suspender puts in place, upright arm rotates clockwise 90 degree as shown in figure 4, swing arm rotating opening is as schemed again Shown in 5；Swing arm is gone to position, as shown in Figure 6 by 90 degree of transverse arm rotation.Now it is rotated further by swing arm, adjust electronic slide unit liter Fall function, makes to be linked with the hook that suspension ring are arranged on fan blade suspender, the inductive switch until being arranged on hook senses Start locking after being linked with the presence of suspension ring and be linked with suspension ring, complete the operation that one-time mechanical handss are linked with automatically.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all this Any modification, equivalent and improvement made within the spirit of utility model and principle etc., should be included in this utility model Protection domain within.

Claims (6)

1. a kind of mechanical hand of fan blade suspender, including motor, installing plate (5) and electronic slide unit (7), electronic slide unit (7) is located at peace On dress plate (5), described installing plate (5) be fixed on fan blade suspender (101) upper it is characterised in that: also include upright arm (1), transverse arm (2) and swing arm, motor includes a servomotor (11) between installing plate (5) and upright arm (1), located at upright arm (1) No. two servomotors (12) and transverse arm (2) between, and No. three servomotors and swing arm between located at transverse arm (2) (13)；A number servomotor (11) drives upright arm (1) to rotate along y-axis, and No. two servomotors (12) drive transverse arm (2) along x-axis Rotate, No. three servomotors (13) drive swing arm to rotate along z-axis.

2. fan blade suspender as claimed in claim 1 mechanical hand it is characterised in that: described swing arm includes swing arm canned paragraph (3) With swing arm active segment (4), swing arm active segment (4) lower end is placed in swing arm canned paragraph (3) upper end, and it is solid to pass through regulating bolt (14) Fixed.

3. fan blade suspender as claimed in claim 2 mechanical hand it is characterised in that: also include being linked with suspension ring (9) and suspension ring be solid Determine device (10), be linked with the top end that suspension ring (9) are fixed on swing arm active segment (4) by suspension ring holder (10).

4. fan blade suspender as claimed in claim 1 mechanical hand it is characterised in that: also include linear guides (6) and install Frame (8), located at the both sides of electronic slide unit (7), mounting bracket (8) is slidably fixed on linear guides (6) linear guides (6), and one Number servomotor (11) is fixed on installing plate (5) by mounting bracket (8).

5. fan blade suspender as claimed in claim 1 mechanical hand it is characterised in that: upright arm (1) becomes 90 degree of settings with transverse arm, Upright arm (1) is be arranged in parallel with swing arm.

6. fan blade suspender as claimed in claim 1 mechanical hand it is characterised in that: described motor comprises rv decelerator.