KR101346176B1 - Assembly robot for windmill blade - Google Patents

Abstract

An assembly robot of a blade for an aerogenerator is disclosed. According to an embodiment of the present invention, the assembly robot of a blade for an aerogenerator comprises a blade gripping rotating assembly composed of a blade gripper which grips a blade and a blade rotator which is connected to the blade gripper and rotates the blade to regulate the rotating angle of a pitch bearing connected to the blade; and a tower gripping assembly whose one side is connected with the blade gripping rotating assembly and the other side is gripped to a tower in order to support the blade to the tower.

Description

Assembly robot for windmill blade

The present invention relates to a robot for assembling a blade for a wind turbine, and more particularly, there is no need to perform additional work for operating the pitch drive as before, and in particular, to accurately adjust the rotation angle of the pitch bearing. The present invention relates to an assembly robot for a wind turbine blade capable of improving the assembly efficiency of the blade.

Wind turbines (or wind turbines) are devices that produce electrical energy from wind-induced rotational energy, and their weight is increasing due to the exhaustion of fossil fuels and environmental problems.

The wind turbine includes a rotor having a plurality of blades rotated by the wind connected to a hub and a nacelle cover for supporting and protecting a nacelle connected to the rotor. And a tower for supporting the nacelle cover.

The blade uses aerodynamically designed geometry to generate a useful aerodynamic torque in the wind's energy and generates electricity by rotating the generator using this aerodynamic torque.

The aerodynamic shape of the blade is important to increase the amount of electricity generated. In addition, it must be able to adequately support the loads structurally derived from its shape.

The load is dominated by the aerodynamic shape, but it is another important design technique to design the blade as light as possible while supporting the same load through a structurally optimal design.

The blade, like the tower, is a very large structure with a hollow pipe shape that is bolted to the hub, ie assembled.

Take a closer look. A pitch bearing is disposed between the blade and the hub, the outer ring of the pitch bearing is bolted to the hub and the inner ring of the pitch bearing is bolted to the blade.

At this time, a plurality of bolt holes are formed in the inner ring of the pitch bearing along its circumferential direction, and stud bolts are provided at the ends of the blade as many as the number of bolt holes formed in the inner ring of the pitch bearing. Therefore, the stud bolts of the blade can be fitted to the bolt holes formed in the inner ring of the pitch bearing, and then assembled with a nut on the opposite side, thereby connecting the inner ring of the pitch bearing and the blade. Such assembling work of the blade is carried out by using bolt assembly equipment such as a tensioner or a torque wrench in the inner side of the hub.

On the other hand, the hub is provided with a structure called the stiffener to reinforce the strength of the hub. Since the bolt hole formed in the inner ring of the pitch bearing may be covered by the stiffener inside the hub, for the bolting operation, the stiffener is formed with a hole for arranging the bolt assembly equipment, that is, a hole for the work passage.

At this time, the number of holes for the work passage formed in the stiffener is much smaller than the number of bolt holes formed in the inner ring of the pitch bearing. Therefore, in the hub, the bolting operation can be performed only for the bolt hole formed in the inner ring of the pitch bearing which is aligned with the work passage hole formed in the stiffener.

For bolt holes formed in the work passage hole formed in the stiffener and the inner ring of the pitch bearing not aligned, rotate the pitch bearing or rotate the blade to align the bolt hole in the work passage hole of the stiffener and the pitch bearing inner ring. Only then can you proceed with the bolting. In the prior art, an alignment operation between the hole for the stiffener's working passage and the bolt hole of the pitch bearing inner ring is performed while rotating the pitch bearing by operating a separate pitch drive.

However, in the prior art to which the above-described method is applied, the work is cumbersome or inconvenient because it needs to supply a separate power for operating the pitch drive during the installation of the wind turbine, and the installation time or cost of the wind turbine is increased. In particular, it is difficult to accurately match the rotation angle of the pitch bearing, there is a problem that the assembly efficiency of the blade is reduced.

Prior Art; United States Patent US 7,726,941

Therefore, the technical problem to be achieved by the present invention, there is no need to perform additional work to operate the pitch drive as before, during the installation of the wind turbine, in particular, it is possible to accurately match the rotation angle of the pitch bearing to improve the assembly efficiency of the blade It is to provide a robot assembly of the blade for a wind turbine.

According to an aspect of the present invention, a blade gripper for gripping the blade and a blade rotator having a blade rotator connected to the blade gripper, the blade rotator for rotating the blade for adjusting the rotation angle of the pitch bearing to which the blade is connected Rotating assembly; And a tower gripping assembly, one side of which is connected to the rotating assembly for gripping the blade and the other side of which is gripped to a tower to support the blade with respect to the tower. Robots can be provided.

The blade rotator may include: a bearing unit having an inner ring to which the blade gripper is connected, and an outer ring disposed radially outward of the inner ring; And it may include an inner ring rotating portion for rotating the inner ring.

The inner ring rotating unit may include an inner ring wheel that contacts the inner ring to rotate the inner ring; And it may include a wheel driving unit for driving the inner ring wheel.

A gear tooth shape may be formed on abutment surface of the inner ring wheel and the inner ring.

The inner ring rotating unit may further include a support frame supporting the wheel driving unit.

The blade gripping rotating assembly may include: a rotation angle detector configured to detect a rotation angle of the inner wheel; And a controller configured to control an operation of the wheel driver based on the information from the rotation angle detector.

The rotation angle detector may be disposed on an opposite side of the inner wheel wheel with the inner ring interposed therebetween, and a marking pattern for detecting the rotation angle may be formed on a surface of the inner ring on which the rotation angle detector is disposed.

The blade gripper may include a contact pressurizing portion contacting the outer surface of the blade; And a blade gripping actuator connected to the contact pressure unit to drive the contact pressure unit.

The tower gripping assembly may be rotatably coupled to the ring flange area to be moved along a trajectory of a ring flange provided to protrude along the circumferential direction of the outer wall of the tower. ; And it may include a foldable connecting unit that is foldably connected between the tower side rotary coupling portion and the blade gripping rotating assembly for adjusting the separation distance of the blade with respect to the tower.

The tower side rotary coupling portion, the hook type locking member that is hooked to the ring flange in a hook type; And an actuator disposed between the ring flange and the hooking locking member and rotating the hooking locking member along a trajectory of the ring flange.

The actuator may include an electric roller rotatably contacting one side of the ring flange; And one side may rotatably support the electric roller and the other side may include a roller support coupled to the hook-type engaging member.

The tower side rotary coupling part may further include at least one non-powered guide roller disposed between the ring flange and the hooking locking member to guide the rotational movement of the hooking locking member.

At least one coating liquid spraying module coupled to the hanging locking member and spraying the coating liquid onto the surface of the ring flange when the hanging locking member is rotated along the trajectory of the ring flange; A distance detecting sensor coupled to the hanging locking member and detecting a distance of the hanging locking member to the ring flange; And an elastic member disposed on a surface of the ring flange on which the hook type locking member is disposed.

The folding connection unit, the tower side connecting portion connected to the tower side coupling; A blade side connection portion including a linear motor for linearly moving the blade gripping rotating assembly, the blade gripping rotating assembly being connected to the blade gripping rotating assembly; And a plurality of link members connecting the tower side connection portion and the blade side connection portion in a link type.

The plurality of link members may include: a straight link member having both ends freely rotatably connected to lower portions of the tower side connecting portion and the blade side connecting portion, respectively; And a pair of unit links disposed at an upper region of the linear link member in a longitudinal direction of the tower, and having both ends freely rotatably connected to the tower side connecting portion and the blade side connecting portion, respectively, and being folded. It may include a type link member.

The foldable connection unit may further include a link member driving unit for driving the straight link member and the bent link member.

According to the present embodiment, during the installation of the wind turbine, there is no need to perform additional work for operating the pitch drive as before, and in particular, the rotation angle of the pitch bearing can be precisely adjusted, thereby improving the assembly efficiency of the blade.

1 is a front view of a wind turbine to which an assembling robot of a wind turbine blade according to a first embodiment of the present invention is to be applied;
2 and 3 are a cross-sectional structural view and a front view of the pitch bearing region for explaining the assembly region of the blade, respectively.
4 to 6 are diagrams showing the operation of the assembly robot of the blade for the wind power generator step by step.
7 is an enlarged perspective view of main parts of FIG. 4.
8 is a rear perspective view of the blade rotating bearing.
9 is a perspective view of a rotating assembly area for blade gripping in the assembling robot of the wind turbine blade according to the second embodiment of the present invention.
FIG. 10 is an enlarged structural diagram of a tower side coupling portion in an assembly robot for a wind turbine blade according to a third embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

1 is a front view of a wind turbine to which an assembling robot of a wind turbine blade according to a first embodiment of the present invention is to be applied;

Referring to the wind turbine generator in brief with reference to this drawing, the wind turbine is connected to a nacelle (not shown) and a plurality of blades (110, rotated by the wind), the axial direction of the nacelle and blade 110 And a tower for supporting the load.

The blade 110 is a kind of wing that rotates by wind to generate a rotational motion. The blades 110 disposed radially with respect to the hub 102 may have a streamlined wing shape to be easily rotated by wind, and two or more blades 110 may be applied. Three blades 110 are applied to the wind power generator of this embodiment, but the scope of the present invention is not limited by the number thereof.

The hub 102 is where the plurality of blades 110 are connected. The hub 102 and the plurality of blades 110 may also be referred to as a rotor. The hub 102 may have a substantially circular shape when viewed from the front, and may have a dome shape when viewed from the side.

The hub 102 is connected to a nacelle (not shown) that generates electric power by receiving rotational motion of the blade 110 and generates electric energy, and the nacelle is protected by a nacelle cover 103.

As mentioned earlier, the nacelle is a mechanical component that plays an important role in driving a wind power generator, such as a main shaft (main) It is a collective name for a structure in which mechanical parts such as shafts (not shown), gear boxes (not shown) and generators (not shown) are structurally combined.

The nacelle cover 103 is coupled to the outside of the nacelle serves to protect the nacelle. Since the nacelle cover 103 is exposed to the outside air as it is, it is always exposed to snow, rain or sunlight, so that some degree of rigidity must be ensured. Therefore, the nacelle cover 103 may be made of a nonmetal or a metal composite material having excellent durability.

The tower 101 is an axis arranged vertically and long, and supports axial loads on structures such as the plurality of blades 110, the hub 102, the nacelle and the nacelle cover 103.

Like the blade 110, the tower 101 is a hollow pipe-like structure, and a cable or the like is passed through the empty space of the tower 101. The cable may be various kinds of cables including power cables for power transmission, cables for communication, and the like.

The tower 101 is provided with a plurality of ring flanges 108 (see FIG. 4) to protrude radially outward from the outer wall of the tower 101 and to be spaced along the longitudinal direction of the tower 101. When the ring flange 108 is difficult to manufacture a long tower 101 at a time, it refers to the connecting portion to make the unit length to connect them.

2 and 3 are a cross-sectional structural view and a front view of the pitch bearing region for explaining the assembly region of the blade, respectively.

With reference to these drawings looks at the area where the blade 110 is assembled. A pitch bearing 104 is disposed between the blade 110 and the hub 102. The outer ring 105 of the pitch bearing 104 is bolted to the hub 102 and the inner ring 106 of the pitch bearing 104 is bolted to the blade 110.

At this time, a plurality of bolt holes 106a are formed along the circumferential direction of the inner ring 106 of the pitch bearing 104, and bolts formed on the inner ring 106 of the pitch bearing 104 are formed at the end of the blade 110. As many stud bolts 110a as there are holes 106a are provided.

Therefore, the stud bolts 110a of the blade 110 are fitted into the bolt holes 106a formed in the inner ring 106 of the pitch bearing 104, and then assembled by the nut N from the opposite side to thereby pitch the bearing 104. Inner ring 106 and the blade 110 may be connected. The assembling work of the blade 110 is performed by using the bolt assembly equipment 107 such as a tensioner or a torque wrench in the inner side of the hub 102.

On the other hand, the hub 102 is provided with a structure to reinforce the strength of the hub 102, called a stiffener (109). Since the bolt hole 106a formed in the inner ring 106 of the pitch bearing 104 may be covered by the stiffener 109 inside the hub 102, the stiffener 109 may be equipped with bolt assembly equipment. Several holes for arranging 107, i.e., work passage holes 109a, are formed.

At this time, the number of the working passage holes 109a formed in the stiffener 109 is much smaller than the number of bolt holes 106a formed in the inner ring 106 of the pitch bearing 104. Accordingly, the bolt hole 106a formed in the inner ring 106 of the pitch bearing 104 is aligned with the work passage hole 109a formed in the stiffener 109 in the hub 102. You can only bolt to). For example, in the portion indicated by reference numeral A in FIG. 3, the bolt is aligned between the work passage hole 109a of the stiffener 109 and the bolt hole 106a of the inner ring 106 of the pitch bearing 104. Bolting work using the assembly equipment 107 is possible.

However, the stiffener is not aligned between the work passage hole 109a of the stiffener 109 and the bolt hole 106a of the inner ring 106 of the pitch bearing 104 as shown in FIG. 3. The bolt assembly work of the blade 110 can only be performed after the alignment work between the work passage hole 109a of 109 and the bolt hole 106a of the inner ring 106 of the pitch bearing 104 is performed. In other words, the angle of rotation of the inner ring 106 of the pitch bearing 104 can be accurately adjusted in a desired direction, and then bolt assembly of the blade 110 can be performed. ) Is provided.

4 to 6 are views showing the operation of the assembly robot of the wind turbine blade step by step, Figure 7 is an enlarged perspective view of the main portion of Figure 4, and Figure 8 is a rear perspective view of the blade rotating bearing.

Referring to these drawings, the assembly robot 100 of the blade for a wind turbine of this embodiment includes a blade gripping rotating assembly (100a) and a tower gripping assembly (100b). .

Rotating assembly 100a for blade gripping is a part for gripping the blade 110, which is connected to the blade gripper 140 for gripping the blade 110, and the blade gripper 140, and the blade 110 is connected to the blade gripper 140. It is provided with a blade rotator 143 for rotating the blade 110 to adjust the rotation angle of the pitch bearing 104 (see FIGS. 2 and 3) to be connected.

Referring first to the blade gripper 140, the blade gripper 140 is connected to the contact pressing portion 141 and the contact pressing portion 141 which is pressed by the outer surface of the blade 110, the contact pressing portion 141 And an actuator 142 for gripping the blade.

The contact pressing portion 141 is a portion which grips the blade 110 while being pressed after being substantially in contact with the outer surface of the blade 110, and is a material that does not damage the outer surface of the blade 110, such as rubber, It may be made of a material such as silicone, urethane, and the like.

In addition, the contact pressing unit 141 may have a curvature corresponding to the outer surface shape of the blade 110, in which case the blade 110 is able to press the outer surface of the blade 110 to a wider surface Deformation may be prevented from occurring in the blade 110 such as crushing. Accordingly, the blade 110 may be stably gripped while preventing the blade 110 from being deformed.

The blade gripping actuator 142 serves to drive the contact pressing unit 141. The blade gripping actuator 142 may be provided by a cylinder or the like, or may be implemented by a gear method such as a motor. When the contact pressing portion 141 is moved radially inward by the operation of the blade gripping actuator 142, the blade 110 is gripped between the contact pressing portions 141 as shown in FIG.

The blade rotator 143 is mainly connected to the blade gripper 140, as shown in FIGS. 7 and 8, to which the pitch bearings 104 (see FIGS. 2 and 3), in particular pitch bearings, are connected. It serves to rotate the blade 110 to adjust the rotation angle with respect to the inner ring of (104).

The blade rotator 143 is a bearing unit having an inner ring 144a to which the blade gripping actuator 142 of the blade gripper 140 is connected, and an outer ring 144b disposed radially outward of the inner ring 144a ( 144 and an inner ring rotating part 145 for rotating the inner ring 144a of the bearing unit 144. As such, even when the blade 110 is gripped by the blade gripper 140, when the inner ring rotating part 145 rotates the inner ring 144a of the bearing unit 144, the blade 110 rotates in the θ direction of FIG. 7. Can be.

In particular, as described with reference to FIGS. 2 and 3, the stud bolt 110a of the blade 110 is inserted into the bolt hole 106a formed in the inner ring 106 of the pitch bearing 104, and then in the θ direction of FIG. 7. By rotating the blade 110, alignment work between the work passage hole 109a formed in the stiffener 109 and the bolt hole 106a formed in the inner ring 106 of the pitch bearing 104 can be easily performed. have. This method is much more efficient because it can be done independently during the installation of the wind turbine, without the need for additional work to operate the pitch drive as before.

The inner ring rotating unit 145 is in contact with the inner ring 144a of the bearing unit 144 to rotate the inner ring 145a for rotating the inner ring 144a of the bearing unit 144, and a wheel driving unit for driving the inner ring 145a ( 145b). The wheel driver 145b may be a direct type motor that is directly connected to the inner wheel 145a.

A support frame 145c may be provided to support the inner wheel 145a and the wheel driving unit 145b, and a rotation angle detector for detecting a rotation angle of the inner wheel 145a on one side of the support frame 145c. 145d is provided.

The rotation angle detector 145d is a kind of sensor and may be coupled to the support frame 145c on the opposite side of the inner wheel 145a with the inner ring 144a interposed therebetween. The signal sensed by the rotation angle detector 145d is transmitted to a separate controller, and the controller can control the operation of the wheel driver 145b based on the signal.

Meanwhile, as illustrated in FIG. 8, the marking pattern 146 for detecting the rotation angle is formed on the surface of the inner ring 144a where the rotation angle detecting unit 145d is disposed. The rotation angle detector 145d may accurately detect the rotation angle by looking at the marking pattern 146 for detecting the rotation angle.

Meanwhile, the tower gripping assembly 100b is connected to the rotating assembly 100a for blade gripping and the other side is gripped to the tower 101 to support the blade 110 with respect to the tower 101. .

The tower gripping assembly 100b rotates in the region of the ring flange 108 so that the tower gripping assembly 100b can be moved along the trajectory of the ring flange 108 provided to protrude along its circumferential direction from the outer wall of the tower 101. And a foldable connection unit 150 that is foldably connected between the tower side rotating coupling part 115 and the tower side rotating coupling part 115 and the blade gripping rotating assembly 100a.

In the present embodiment, as shown in FIGS. 4 to 6, the tower side rotating coupling part 115 is a hook type locking member that is supported by the ring flange 108 provided on the outer wall of the tower 101 in a hanging manner. Can be applied. In this case, an actuator (not shown) such as an electric roller may be provided between the ring flange 108 and the hook locking member so that the hook locking member rotates along the trajectory of the ring flange 108.

The folding connection unit 150 is folded between the tower side rotary coupling portion 115 and the blade gripping rotating assembly 100a to adjust the separation distance of the blade 110 with respect to the tower 101 as shown in FIGS. 4 and 5. It is a possible connection.

Foldable connection unit 150, the tower side connection portion 160 is connected to the tower side rotary coupling portion 115, the blade side connection portion 170 is connected to the blade gripping rotating assembly 100a, and the tower side connection portion A plurality of link members 180 for connecting the 160 and the blade-side connecting portion 170 in a link type, and a link member driver 190 for driving the link members 180.

The tower side connection portion 160 is a portion connected to the side of the tower side rotary coupling portion 115. The tower side connection portion 160 may be a plate type or a bar type of a plate.

The blade-side connector 170 is a portion connected to the blade gripping rotating assembly 100a on the opposite side of the tower-side connector 160.

The tower side connection unit 160 is firmly connected to the tower side rotary coupling unit 115, whereas the blade side connection unit 170 includes a linear motor for linearly moving the rotating assembly 100a for blade gripping.

In this regard, as shown in FIG. 4 to FIG. 5, the blade 110 is inclined with respect to the tower 101 to adjust the relative position of the blade 110 with respect to the hub 102, and then toward the hub 102. The blade 110 must be coupled to the hub 102 by moving, ie, linearly moving the blade 110. For this purpose, the blade-side connection 170 includes a linear motor for linear movement, unlike the tower-side connection 160. I'm doing it.

The link member 180 is a portion connecting the tower side connecting portion 160 and the blade side connecting portion 170 in a link type.

The link member 180 has a straight link member 181 having both ends freely rotatably connected to the lower regions of the tower side connecting portion 160 and the blade side connecting portion 170, and along the longitudinal direction of the tower 101. It is disposed in the upper region of the straight link member 181, and includes a bent link member 182, both ends of which are freely rotatably connected to the tower side connecting portion 160 and the blade side connecting portion 170, respectively.

While the straight link member 181 has a rod shape, the bent link member 182 includes a pair of unit links 182a and 182b which are folded to each other.

At least one linear link member 181 and one bent link member 182 may be disposed. Due to the operation of the straight link member 181 and the bent link member 182, the tower 101 and the blade 110 may be adjacent to each other as shown in FIG. 4 or spaced apart as shown in FIG.

The link member driving unit 190 serves to drive the link member 180 as shown in FIGS. 4 and 5, that is, the straight link member 181 and the bent link member 182.

In the present embodiment, the link member driving unit 190 has a main cylinder 191, one end of which is rotatably connected to the tower side connecting portion 160, and the other end of the link member rotatably connecting to the blade side connecting portion 170, and both ends thereof. The sub-cylinder 192 is rotatably connected to the unit links 182a and 182b of the bent link member 182, respectively.

The main cylinder 191 and the sub cylinder 192 are both hydraulic cylinders. However, pneumatic cylinders or hydraulic pneumatic cylinders may be applied.

In the present embodiment, one end of the main cylinder 191 is rotatably connected to the tower side connecting portion 160, but one end of the main cylinder 191 may be rotatably connected to the tower side rotation coupling portion (115).

The operation of the assembling robot 100 of the wind turbine blade having such a configuration will be described.

In the state shown in FIG. 4, the main cylinder 191 and the sub cylinder 192 are operated. Then, the folded straight link member 181 and the bent link member 182 are unfolded as shown in FIG. 5.

At this time, since the unfolding degree of the bent link member 182 is formed smaller than the straight link member 181, the blade 110 may be inclined while being spaced apart from the tower 101 as shown in FIG. 5.

After adjusting the relative position of the blade 110 relative to the hub 102 by tilting the blade 110 with respect to the tower 101 as shown in Figure 5, the blade side connection portion 170 including a linear motor as shown in FIG. ).

Then, the blade 110 may be linearly moved in the direction of the arrow of FIG. 6, and the bolt hole 106a in which the stud bolts 110a of the blade 110 are formed in the inner ring 106 of the pitch bearing 104 may be moved. 2 and 3). Next, by rotating the blade 110 in the θ direction of FIG. 7, between the work passage hole 109a formed in the stiffener 109 and the bolt hole 106a formed in the inner ring 106 of the pitch bearing 104. Alignment can be performed easily. This method is much more efficient because it can be done independently during the installation of the wind turbine, without the need for additional work to operate the pitch drive as before.

As such, according to the present embodiment, there is no need to perform additional work for operating the pitch drive as before, during the installation of the wind power generator, and in particular, the rotation angle of the pitch bearing 104 can be accurately adjusted to assemble the blade 110. The efficiency can be improved.

9 is a perspective view of a rotating assembly area for blade gripping in the assembling robot of the wind turbine blade according to the second embodiment of the present invention.

Referring to this drawing, the inner ring 244a of the bearing unit 244 and the inner ring 245a of the inner ring rotating part 245 are provided in the blade rotator 243 of the blade gripping rotating assembly 200a in this embodiment. The gear tooth shape is formed on the abutting surface of, in this case, the pitch control can be more accurate.

FIG. 10 is an enlarged structural diagram of a tower side coupling portion in an assembly robot for a wind turbine blade according to a third embodiment of the present invention.

The tower side rotary coupling part 315 may have a structure as shown in FIG. 10. This will be described.

In this embodiment, the tower side rotary coupling portion 315 rotates in the ring flange 108 region so that the tower side rotary coupling portion 315 can be moved along the trajectory of the ring flange 108 provided to protrude along its circumferential direction from the outer wall of the tower 101. Possibly combined.

The tower side rotary coupling part 315 includes a hook type locking member 316 and an actuator 317 for rotating the hook type locking member 316 along the trajectory of the ring flange 108.

In the present embodiment, the hook type locking member 316 is hooked to the ring flange 108 in a hook type. Since the ring flange 108 may be provided in a pair to be spaced apart along the longitudinal direction of the tower 101, the hooking engaging member 316 may also be correspondingly disposed on the ring flange 108, respectively.

The actuator 317 is disposed between the ring flange 108 and the hooking member 316, and serves to rotate the hooking member 316 along the trajectory of the ring flange 108.

The actuator 317 is an electric roller 317a rotatably contacting one side of the ring flange 108, and one side rotatably supports the electric roller 317a, and the other side is coupled to the hook type locking member 316. It comprises a first roller support 317b.

Although the electric roller 317a is schematically illustrated in the drawing, the electric roller 317a may be a roller that can be independently rotated by a motor (not shown). The motorized roller 317a is rotated by pressing one surface thereof in contact with one side of the ring flange 108.

When the electric roller 317a is rotated as described above, the entire assembly robot 300 of the blade for the wind turbine including the hook-type locking member 316 is easily moved along the circumferential direction of the tower 101 together with the blade 310 by the rotational force. Can be rotated.

In particular, even after the blade 310 is gripped, the hub 302 and the blade because the entire assembly robot 300 of the wind turbine blade can be rotated along the circumferential direction of the tower 101 together with the blade 310. Relative position alignment work between the 310 can be easily proceeded, thereby improving the assembly work efficiency of the blade 310 can be significantly improved than before.

A non-powered guide roller 318 is provided around the actuator 317. Unlike the aforementioned electric roller 317a, the non-powered guide roller 318 may be a roller or a wheel that is freely rotated without power.

The non-powered guide roller 318 may be rotatably supported by the hook type locking member 316 by a second roller support 319. In the present embodiment, the non-powered guide roller 318 is disposed on a plurality of different positions on the hook-type locking member 316 to guide the stable rotation of the hook-type locking member 316.

Meanwhile, the entire assembly robot 300 of the wind turbine blade may be rotated along the circumferential direction of the tower 101 together with the blade 310 by the electric roller 317a and the non-powered guide rollers 318. While performing the operation, the surface of the ring flange 108 may be damaged by frictional contact.

In order to prevent surface damage of the ring flange 108, an elastic member 321, for example, a rubber pad 321, may be disposed on the surface of the ring flange 108 on which the hooking locking member 316 is disposed. The rubber pad 321 serves to prevent the surface of the ring flange 108 from being damaged by the hook type locking member 316.

Of course, even if the rubber pad 321 is disposed, the weight of the assembly robot 300 of the wind turbine blade gripping the blade 310 is very large, so that the rubber pad 321 is torn off the ring flange 108 There is a risk of surface coating being damaged. In this case, the coating liquid may be sprayed onto the damaged part through the coating liquid spraying module 320.

In other words, in the present embodiment, the coating liquid injection module 320 is coupled to the hook type locking member 316, and when the hook type locking member 316 is rotated along the trajectory of the ring flange 108, the ring flange ( Spraying the coating liquid onto the surface of 108 may again correct the damaged surface of the ring flange 108.

The assembly robot 300 of the blade for the wind power generator of the present embodiment is coupled to the hook type locking member 316, the distance detection sensor 325 for detecting the distance of the hook type locking member 316 to the ring flange 108 It further includes.

The distance sensor 325 serves to detect the distance of the hook type engaging member 316 to the ring flange 108 when installing the assembly robot 300 of the blade for a wind turbine in this embodiment by a crane operation. do. If the hook type locking member 316 tries to approach the ring flange 108 excessively, the distance sensor 325 may detect this and provide information for generating an alarm.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: assembly robot of wind turbine blade
100a: Rotating assembly for blade gripping
100b: tower gripping assembly 101: tower
102 hub 108 ring flange
110: blade 115: tower side coupling portion
140: blade gripper 141: contact pressure portion
142: actuator for blade gripping 143: blade rotator
144: bearing unit 145: inner ring rotating portion
145a: inner wheel 145b: wheel drive
145c: support frame 145d: rotation angle detection unit
146: marking angle for detecting the rotation angle 150: folding connection unit
160: tower side connection portion 170: blade side connection portion
180 link member 181 straight link member
182: bent link member 190: link member drive portion
191: main cylinder 192: sub cylinder

Claims (16)

A blade gripper for gripping a blade, and a blade gripping rotating assembly including a blade rotator connected to the blade gripper and configured to rotate the blade to adjust a rotation angle of a pitch bearing to which the blade is connected; And
One side is connected to the rotating assembly for gripping the blade and the other side assembly robot of the blade for a wind turbine comprising a tower gripping assembly (grip to a tower) to support the blade to the tower (tower) . The method of claim 1,
The blade rotator,
A bearing unit having an inner ring to which the blade gripper is connected and an outer ring disposed radially outward of the inner ring; And
An assembly robot for a wind turbine blade comprising an inner ring rotating portion for rotating the inner ring. 3. The method of claim 2,
The inner ring rotating unit,
An inner ring wheel that contacts the inner ring to rotate the inner ring; And
An assembly robot for a wind turbine blade comprising a wheel driving unit for driving the inner wheel. The method of claim 3,
An assembly robot of the blade for the wind turbine, the gear tooth is formed on the contact surface of the inner ring wheel and the inner ring. The method of claim 3,
The inner ring rotating unit further comprises a support frame for supporting the wheel driving unit assembly of the wind turbine blade. The method of claim 3,
The blade gripping rotating assembly,
A rotation angle detector for detecting a rotation angle of the inner wheel; And
And a controller for controlling the operation of the wheel driving unit based on the information from the rotation angle detecting unit. The method according to claim 6,
The rotation angle detector is disposed on the opposite side of the inner wheel wheel with the inner ring,
An assembly robot for a wind turbine blade, in which a marking pattern for detecting rotation angle is formed on a surface of the inner ring in which the rotation angle detecting unit is disposed. The method of claim 1,
The blade gripper
A contact pressurizing unit contacting the outer surface of the blade; And
And a blade gripping actuator connected to the contact pressurizing unit to drive the contact pressurizing unit. The method of claim 1,
The tower gripping assembly is,
A tower side rotary coupling part rotatably coupled to the ring flange area so as to move along a trajectory of a ring flange protruding along the circumferential direction of the outer wall of the tower; And
And a foldable connection unit foldably connected between the tower side rotary coupling part and the blade gripping rotating assembly for adjusting the separation distance of the blade with respect to the tower. 10. The method of claim 9,
The tower side rotating coupling part,
A hook type locking member hooked to the ring flange to be hooked; And
And a actuator disposed between the ring flange and the hooking locking member and configured to rotate the hooking locking member along a trajectory of the ring flange. The method of claim 10,
Wherein the actuator comprises:
An electric roller rotatably contacting one side of the ring flange; And
One side rotatably supports the motorized roller and the other side of the blade assembly for the wind turbine comprising a roller support coupled to the hanging member. The method of claim 10,
The tower side rotating coupling part,
The robot assembly of the blade for the wind turbine further comprises at least one non-powered guide roller which is disposed between the ring flange and the hook-type locking member for guiding the rotational movement of the hook-type locking member. The method of claim 10,
At least one coating liquid spraying module coupled to the hanging locking member and spraying the coating liquid onto the surface of the ring flange when the hanging locking member is rotated along the trajectory of the ring flange;
A distance detecting sensor coupled to the hanging locking member and detecting a distance of the hanging locking member to the ring flange; And
The robot assembly of the blade for the wind turbine further comprises an elastic member disposed on the surface of the ring flange on which the hook-type locking member is disposed. 10. The method of claim 9,
The folding connection unit,
A tower side connection part connected to the tower side rotation coupling part;
A blade side connection portion including a linear motor for linearly moving the blade gripping rotating assembly, the blade gripping rotating assembly being connected to the blade gripping rotating assembly; And
The assembly robot of the wind turbine blade comprising a plurality of link members for connecting the tower-side connection portion and the blade-side connection portion in a link type. 15. The method of claim 14,
The plurality of link members,
A straight link member having both ends freely rotatably connected to a lower region of the tower side connecting portion and the blade side connecting portion; And
It is arranged in the upper region of the linear link member along the longitudinal direction of the tower, both ends of the bent type having a pair of unit links which are connected freely rotatably connected to the tower-side connection portion and the blade-side connection portion, respectively An assembly robot for a wind turbine blade comprising a link member. 16. The method of claim 15,
The folding connection unit,
And a link member driving unit for driving the straight link member and the bent link member.

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