CN-116000615-B - Automatic bolt fastening system and calculation method

CN116000615BCN 116000615 BCN116000615 BCN 116000615BCN-116000615-B

Abstract

The invention discloses an automatic bolt fastening system and a calculation method, wherein the automatic bolt fastening system comprises an auxiliary tool and a tightening mechanism, the auxiliary tool comprises a mounting bracket, a rotary support arm and a servo motor, the mounting bracket is detachably connected with a workpiece, the servo motor is arranged on the mounting bracket and can drive the rotary support arm to rotate on the mounting bracket, the tightening mechanism is arranged at two ends of the rotary support arm and comprises a tightening shaft and a lifting cylinder, the lifting cylinder is arranged at the end part of the rotary support arm and is connected with the tightening shaft, and a tightening sleeve is arranged at the end part of the tightening shaft. By using the automatic bolt fastening system and the calculation method, the auxiliary tool is used for fixing the device on the workpiece, so that the positioning of the tightening mechanism and the bolt can be rapidly completed, and the accuracy is high. If the device and the workpiece have errors, the actual center coordinates of the auxiliary tool can be calculated by fastening the reference bolts, and the device is calibrated without spending more time, so that the working efficiency is greatly improved.

Inventors

XIANG YUNCHENG
WU YU
LI CHUN
QIAN WEI
SHI YU
BAO CHENGYUN

Assignees

中国船舶重工集团海装风电股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230209

Claims (3)

1. The calculation method of the automatic bolt fastening system is characterized by comprising an auxiliary tool and a tightening mechanism; The auxiliary tool comprises a mounting bracket, a rotary support arm and a servo motor, wherein the mounting bracket is detachably connected with a workpiece, and the servo motor is arranged on the mounting bracket and can drive the rotary support arm to rotate on the mounting bracket; the two ends of the rotary support arm are respectively provided with a tightening mechanism, the tightening mechanism comprises a tightening shaft and a lifting cylinder, the lifting cylinder is arranged at the end part of the rotary support arm and is connected with the tightening shaft, and the end part of the tightening shaft is provided with a tightening sleeve; The rotary support arm is provided with a screw rod, a telescopic arm and an offset cylinder, the screw rods are rotatably connected to the two ends of the rotary support arm, the screw rods can drive the telescopic arm to axially move, and the offset cylinder is arranged on the telescopic arm and is connected with the tightening mechanism; the method also comprises the following calculation steps: S1, 4 reference bolts symmetrically distributed in a cross are screwed; s2, calculating the center coordinates of the auxiliary tool; s3, calculating the telescopic distance and the offset angle between the tightening mechanism and the bolt to be screwed according to the central coordinate position of the auxiliary tool; s4, adjusting the telescopic distance and the offset angle of the tightening mechanism by the screw rod and the offset cylinder according to the distance between the tightening mechanism and the bolt to be screwed and the offset distance; The method comprises the following steps that S1, after an auxiliary tool is fixed on a workpiece, a starting device enables tightening mechanisms to reach preset reference bolts, one tightening mechanism points to the circle center of a bolt, a telescopic arm is manually adjusted to be aligned to the circle center of the bolt, and then the telescopic arm and an offset cylinder are manually adjusted to be aligned to the circle center of the bolt by the other tightening mechanism; The step S2 is specifically that a rectangular coordinate system is established by taking the center of a circle of a workpiece as an origin (X 0 ,Y 0 ), the center of a first reference bolt in the step S1 is arranged on an X axis, the center coordinate of an auxiliary tool is set as (X 1 ,Y 1 ), and the coordinate of a second reference bolt is set as (X 2 ,Y 2 ); The distance between the center of the auxiliary tool and the first reference bolt is L 1 , the distance between the center of the auxiliary tool and the end part of the telescopic arm after the tightening mechanism is aligned with the second reference bolt is L 2 , the distance between the center of the workpiece and the center of the bolt is L 0 , the vertical offset distance between the tightening mechanism and the second reference bolt relative to the X axis is L 3 , and then the center coordinates of the auxiliary tool are: X 1 =L 1 *cos[arctan{L 3 /(L 1 +L 2 )}]-L 0 ; Y 1 =L 1 *sin[arctan{L 3 /(L 1 +L 2 )}]。
2. the method for calculating the automatic bolt tightening system according to claim 1, wherein the step S3 is specifically that the telescopic distance between the center of the bolt to be screwed and the center of the auxiliary tool and the offset angle of the center of the bolt to be screwed relative to the center of the auxiliary tool can be calculated through the preset center coordinates of the bolt to be screwed and the center coordinates of the auxiliary tool.
3. The method for calculating the automatic bolt tightening system according to claim 2, wherein step S4 is specifically that according to the distance between the center of the circle of the bolt to be screwed and the center of the auxiliary tool, the screw rod drives the telescopic arm to extend or shorten to compensate the telescopic distance, and according to the offset distance between the center of the circle of the bolt to be screwed and the center of the auxiliary tool, the offset cylinder drives the tightening mechanism to move to compensate the offset angle.

Description

Automatic bolt fastening system and calculation method Technical Field The invention relates to the technical field of wind turbine installation, in particular to an automatic bolt fastening system and a calculation method. Background The unit is in large-scale and is a development trend of a wind power market, the maximum single-machine capacity of a fan in the industry at present exceeds 20MW, and along with the large-scale of the fan, the size and weight of parts of the unit are increased, and the number of the parts is increased. The yaw bearing and the variable pitch bearing are used as the parts with the most bolts for assembling a wind turbine generator workshop, each part is provided with nearly hundred bolts, and if workers work in a traditional mode to screw the bolts one by one, the working efficiency of fastening the bolts is low, the labor intensity is high, and the potential safety hazard is also great. At present, although a device special for automatically fastening bolts is provided, the fastening devices are separated from a workpiece, the fastening devices need to be aligned with the bolts of the workpiece for fastening, centering adjustment precision is needed each time, and the working efficiency is low. Disclosure of Invention Aiming at the defects in the prior art, the invention provides an automatic bolt fastening system which can be fixed on a workpiece and fasten bolts. In order to achieve the aim, the invention is realized by the following technical scheme that the automatic bolt fastening system comprises an auxiliary tool and a tightening mechanism; The auxiliary tool comprises a mounting bracket, a rotary support arm and a servo motor, wherein the mounting bracket is detachably connected with a workpiece, and the servo motor is arranged on the mounting bracket and can drive the rotary support arm to rotate on the mounting bracket; the two ends of the rotary support arm are respectively provided with a tightening mechanism, each tightening mechanism comprises a tightening shaft and a lifting cylinder, each lifting cylinder is arranged at the end part of the rotary support arm and connected with the corresponding tightening shaft, and a tightening sleeve is arranged at the end part of each tightening shaft. Will be with auxiliary fixtures fixed mounting on the work piece through the installing support, rotate on the installing support through private clothes motor drive swinging boom, can drive and screw up the mechanism and rotate, make screw up each bolt point on the mechanism alignment work piece in proper order, drive through the lift cylinder and screw up the axle and screw up the sleeve and remove, can screw up the bolt, accomplish the fastening of bolt. The automatic bolt fastening system has the beneficial effects that the auxiliary tool is fixed on the workpiece, so that the positioning of the screwing mechanism and the bolt can be quickly completed, the accuracy is high, and the working efficiency is improved. Further, the installing support is the triangle installing support, is equipped with three benchmark arm around circumference, interval uniformly, the benchmark arm is connected with quick change arm through bolt detachably, quick change arm passes through bolt and work piece detachably connects. Three reference arms of the triangular bracket are connected with the workpiece through quick-change arms, a triangular stable structure can be formed, the device is ensured to be firmly installed on the workpiece, and the quick-change arms with different lengths can be replaced according to the workpieces with different types, so that the triangular bracket has higher applicability. Further, be equipped with lead screw, flexible arm and skew cylinder on the rotatory support arm, the both ends of rotatory support arm all rotate and are connected with the lead screw, the lead screw can drive flexible arm axial displacement, the skew cylinder sets up on flexible arm to be connected with screwing up the mechanism. After the auxiliary fixture is fixed with the workpiece, if the center deviates from the center of the workpiece, the screw rod can drive the telescopic arm to move and the offset cylinder can drive the tightening mechanism to move so as to adjust the position of the tightening mechanism and compensate the error, so that the centering adjustment precision is not required to take a long time, and the working efficiency is greatly improved. The calculation method of the automatic bolt fastening system adopts the automatic bolt fastening system, and comprises the following calculation steps: S1, 4 reference bolts symmetrically distributed in a cross are screwed; s2, calculating the center coordinates of the auxiliary tool; s3, calculating the telescopic distance and the offset angle between the tightening mechanism and the bolt to be screwed according to the central coordinate position of the auxiliary tool; s4, adjusting the telescopic distance and the offset angle o