基于机器人的风电轮毂螺栓视觉扭力工具设计

Design of Visual Torque Tool for Wind Turbine Hub Bolt Based on Robot

风力发电机组等大型装备零部件螺栓的紧固及上扭是制造过程中的关键工序之一。针对风电设备轮毂系统螺栓紧固现有技术存在的问题进行分析,提出了基于视觉技术的自动扫描三维模型重构、螺栓孔位自动定位及装配路径自动规划的全新工艺方案;在此基础上,设计了将螺栓自动紧固、上扭分开的基于机器人的整体布局方案,并对自动专用紧固工具、变位机等关键部件的结构及工作原理做了详细阐述;最后,利用现有设备做了验证试验,结果显示:轮毂系统螺栓装配时间由原来的5工时缩短至2工时,螺栓的装配过程完全实现自动化,合格率达到100%。

The fastening and twisting of the bolts of wind turbine and other large equipment parts is one of the key processes in the manufacturing process.This article analyzes the existing problems of bolt fastening technology in the hub system of wind power equipment.Based on vision technology,a new technological scheme of automatic scanning 3d model reconstruction,automatic locating of bolt hole and automatic planning of assembly path is proposed.On this basis,the automatic fastening of bolts is designed and the overall layout scheme based on robot is separated from the upper twist.And for the automatic special fastening tools,the key parts of the machine's structure and working principle are described in detail.Finally,a validation test was conducted using existing equipment.The results show,The assembly time of the hub system bolts has been reduced from 5 hours to 2 hours.And the assembly process of the bolts is fully automated with a 100%pass rate.