A wind power blade gluing position automatic positioning device and method

Abstract

The application provides a wind power blade gluing position automatic positioning device and method, and belongs to the technical field of wind power blade gluing. The device comprises a wall-mounted track, a crossbeam, a gluing device and a follow-up carrier trolley. The wall-mounted track is installed on the column I-beam of a factory workshop and is divided into an upper track and a lower track. The upper track and the lower track are respectively provided with an upper pipe and a lower pipe. The upper pipe and the lower pipe jointly support the walking part of the crossbeam. The crossbeam comprises a crossbeam main body and a crossbeam walking part. The crossbeam walking part is connected with the crossbeam main body through a rotating shaft. The crossbeam provides support and guidance for the gluing device. The gluing device comprises a walking servo hoist, a balancer and a rubber shoe and is hung on the crossbeam main body. The follow-up carrier trolley is used for carrying the gluing system and the control system hardware. The application can meet the gluing process requirements of different gluing areas of the blade, and improve the gluing operation efficiency and quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine blade gluing, in particular to a wind turbine blade gluing position automatic positioning device and method. BACKGROUND

[0002] Gluing is a crucial link in the production of wind turbine blades. When gluing and molding wind turbine blades, first, the two half blade shells are placed, and then workers use gluing equipment such as glue mixers and glue boots to apply adhesive to the front and rear edges of the shell, the main beam, the web, the small web, and the rear edge beam. After gluing is completed, the mold is operated, and the two shells and the support structure are bonded using the adhesive. The quality of gluing directly affects the mold effect of the wind turbine blade, thereby affecting the safety and stability of the blade during the later operation and service period.

[0003] In the current wind turbine blade production, due to different gluing paths of wind turbine blades and different shapes and areas of the bonding surface at different positions of the same path, the shell front and rear edges, the main beam, the web, the small web, and the rear edge beam have different requirements for the thickness and width of the glue. The thickness and width of the glue at different positions on the same path are also different.

[0004] In the current gluing process, workers mostly ignore the differences in glue thickness and width in different gluing areas and different gluing positions in the same gluing area. In order to meet the required amount of glue for molding, they use the oversaturation method to glue along the pre-marked positioning line, resulting in a large amount of waste of adhesive. Moreover, when the adhesive is applied beyond the required amount, the bonding strength will decrease, leading to poor mold effect. Therefore, this existing gluing method not only directly leads to an increase in raw material costs, but also reduces the quality of the overall gluing and molding process.

[0005] To achieve self-adaptive control of the thickness and width of the glue during the gluing process and further improve the automation level of the gluing operation, thereby reducing the comprehensive cost and improving the product quality, it is necessary to achieve automatic positioning of the gluing position and matching of the glue width and thickness at the corresponding position. This requires that after the gluing equipment control system completes the matching of the information of the point to be glued and the glue width and thickness at that point, the glue boot should be located at the corresponding gluing position in real time during the gluing process. However, in the field of wind turbine blade gluing and molding, there is a lack of positioning methods and automated equipment that are combined with the actual process of wind turbine blade production and adapt to the production site working environment, so it is impossible to achieve automatic positioning of the gluing position and matching of the glue information.

[0006] The prior art discloses an automatic gluing system for wind power blade production, and provides an automatic gluing system for wind power blade production.

[0007] The prior art discloses an automatic positioning wind power blade gluing device and a gluing method, and provides a positioning guide rail, a self-walking platform and a gluing tool arranged on the self-walking platform and moving synchronously with the self-walking platform.

[0008] The prior art discloses a high-precision adjustable gluing processing device for wind power blade production, and the running track of the guide slide rail is laid according to the size of the wind power blade, so that the gluing is more accurate in later period, and the gluing error is reduced. SUMMARY

[0009] The technical problem to be solved by the present application is to provide a wind power blade gluing position automatic positioning device and method.

[0010] The device comprises a wall-mounted track, a cross beam, a gluing device and a follow-up trolley.

[0011] The wall-mounted track is installed on the column I-shaped steel of the factory production workshop, and is divided into an upper track and a lower track.

[0012] The cross beam comprises a cross beam main body and a cross beam walking part, the cross beam walking part is connected with the cross beam main body through a vertical shaft, and the cross beam walking part is installed on the wall-mounted track.

[0013] The gluing device comprises a walking servo hoist, a balancer and a rubber shoe, the walking servo hoist is hung on the beam body, the rubber shoe is connected with the walking servo hoist through a cable, and the balancer is arranged between the rubber shoe and the walking servo hoist.

[0014] The follow-up carrier trolley is provided with a gluing system and a control system hardware, and the vertical main beam of the follow-up carrier trolley is connected with the beam body through a rotating unit.

[0015] The beam is used to cross the width direction of the blade production station, and the guide rail and the rack are arranged below the beam body to provide a walking track for the gluing device and provide support and guidance for the gluing device.

[0016] The upper pipe and the lower pipe jointly complete the support of the beam walking part and provide a rack for driving in the radial direction of the blade.

[0017] The beam walking part walks on the wall-mounted track through gear and rack transmission, and the servo motor provides power.

[0018] The beam is stored along the axial direction of the blade in a non-working procedure, and the beam body is provided with no less than one gluing device.

[0019] The gluing device is moved on the beam body by the walking servo hoist to adjust the Y-axis coordinates of the rubber shoe. The balancer is used to stabilize the rubber shoe.

[0020] The follow-up carrier trolley and the beam walking part keep synchronous movement.

[0021] The method for applying the automatic positioning device comprises the following steps:

[0022] S1: obtaining the position of the marked point on the to-be-glued path and the glue information;

[0023] S2: importing the position of the marked point and the glue information into the gluing equipment control system, and fitting the gluing path;

[0024] S3: when starting the gluing work, the starting point of the current gluing path is calibrated;

[0025] S4: during the gluing process, the beam walking part walks on the wall-mounted track, the rubber shoe is moved to the X-axis determined position through the cooperative movement of the beam walking part and the follow-up carrier trolley, the rubber shoe is moved to the Y-axis determined position through the transverse movement of the walking servo hoist on the beam body, and the rubber shoe is moved to the Z-axis determined position through the power provided by the walking servo hoist; thus, according to the stored marked point position information and the fitted three-dimensional curve of the gluing path, the rubber shoe is moved to the current position to be glued, the automatic positioning of the gluing position is completed, and the matching of the glue width information of the gluing position is realized.

[0026] In S1, the marked points are sampling points set on the rubber coating path, and the rubber coating is placed on the marked points in the pre-molding process; the position information of the marked points is the three-dimensional coordinates of each marked point relative to the starting marked point, wherein the blade axial direction is the X axis of the three-dimensional coordinate system; the rubber coating width direction, i.e., the beam body axial direction, is the Y axis of the three-dimensional coordinate system; and the rubber coating height direction, i.e., the vertical direction of the ground, is the Z axis of the three-dimensional coordinate system.

[0027] The position information of the marked points is provided at the position of the rubber coating in the pre-molding process.

[0028] The rubber coating information is the width and thickness data of the rubber coating to be coated at the corresponding point.

[0029] In the rubber coating information of the marked points, the thickness of the rubber coating to be coated is provided by the height change of the rubber coating before and after the pre-molding, and the width of the rubber coating to be coated is provided by the rubber coating process requirement.

[0030] In S2, the position information and rubber coating data of the marked points obtained in S1 are formed into data tables, respectively, and are imported into the control system of the rubber coating equipment; the control system fits the marked points into a three-dimensional curve to fit the rubber coating path. The fitted rubber coating path is the normal motion trajectory of the rubber shoe in the rubber coating operation. The height data of the rubber coating to be coated by the marked points are collected by a height measuring instrument and transmitted to the main control system in a wireless manner.

[0031] In S3, the starting point calibration of the rubber coating path is completed by manually controlling the adjustment of the position of the rubber shoe.

[0032] In S4, an angle sensor is installed on the wall hanging track to monitor the included angle between the wall hanging track and the beam walking mechanism in real time. When the included angle is not 90°, if the angle deviation is small (generally, the angle deviation is less than 5°), the angle is adjusted to 90° by controlling the moving speed of the follow-up trolley, and if the angle deviation is large (more than 5°) or the angle changes sharply, an angle overrun alarm of the beam is given.

[0033] The walking servo hoist can drive the rubber coating device to move on the beam, and the walking servo hoist can provide power for the extension of the rubber shoe in the Z-axis direction.

[0034] The beneficial effects of the above technical solutions of the present application are as follows:

[0035] In the above scheme, the positioning of the gluing position on the X axis is completed through the coordinated movement of the beam walking part and the follow-up carrying trolley, the positioning of the gluing position on the Y axis is completed through the movement of the gluing device on the beam, and the positioning of the gluing position on the Z axis is completed through the vertical extension of the glue shoe by the walking servo cage, thereby realizing the accurate automatic positioning of the gluing position during the gluing operation. The coordinated movement of the beam walking part and the follow-up carrying trolley is also provided with an angle overrun alarm module, thereby improving the accuracy of the X axis positioning. The corresponding automatic gluing position positioning method imports the collected marking point position information and glue information into the main control system, fits the gluing path, greatly reduces the intervention of manpower in the positioning process, improves the accuracy of the gluing position positioning, and matches the information of the width and thickness of the glue to be applied in real time during the automatic positioning. The automatic positioning device and the positioning method can meet the gluing process requirements of different gluing areas of the blade, and improve the gluing operation efficiency and quality. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a schematic structural view of the automatic gluing position positioning device for the gluing process of the wind power blade of the application.

[0037] Figure 2 It is a partial schematic view of the wall hanging track of the automatic gluing position positioning device for the gluing process of the wind power blade of the application.

[0038] Figure 3 It is a schematic view of the gluing device of the automatic gluing position positioning device for the gluing process of the wind power blade of the application.

[0039] Among them: 1-wall hanging track; 2-rotating shaft; 3-beam walking part; 4-beam main body; 5-walking servo cage; 6-balancer; 7-glue shoe; 8-rotating unit; 9-follow-up carrying trolley; 10-wind power blade; 11-upper pipe; 12-lower pipe. DETAILED DESCRIPTION

[0040] In order to make the technical problems, technical solutions and advantages of the application clearer, specific embodiments will be described in detail below with reference to the drawings.

[0041] The application provides an automatic gluing position positioning device and method for the gluing process of a wind power blade.

[0042] As shown in the drawings, Figure 1 The device comprises a wall hanging track 1, a beam, a gluing device and a follow-up carrying trolley 9,

[0043] As shown in the drawings, Figure 2 The wall hanging track 1 is installed on the column I-shaped steel of the factory production workshop, and is divided into an upper track and a lower track, and the upper track and the lower track are respectively provided with an upper pipe 11 and a lower pipe 12,

[0044] The crossbeam includes a crossbeam body 4 and a crossbeam traveling component 3. The crossbeam traveling component 3 is connected to the crossbeam body 4 via a vertically arranged pivot 2. The crossbeam traveling component 3 is installed on the wall-mounted track 1.

[0045] like Figure 3 As shown, the glue application device includes a walking servo hoist 5, a balancer 6, and a rubber boot 7. The walking servo hoist 5 is suspended on the crossbeam body 4. The rubber boot 7 is connected to the walking servo hoist 5 through a cable. The balancer 6 is set between the rubber boot 7 and the walking servo hoist 5.

[0046] The follow-up transport trolley 9 is equipped with an adhesive application system and control system hardware. The vertical main beam and the crossbeam body 4 of the follow-up transport trolley 9 are connected by a rotating unit 8.

[0047] The crossbeam is used to span the width of the wind turbine blade 10 production station. The crossbeam body 4 is equipped with guide rails and racks to provide a travel track for the glue application device and to provide support and guidance for the glue application device.

[0048] The crossbeam traveling component 3 moves on the wall-mounted track 1 via a gear and rack transmission, powered by a servo motor.

[0049] During non-working processes, the crossbeam is stored along the axial direction of the wind turbine blade 10, and the main body 4 of the crossbeam is equipped with at least one adhesive applicator.

[0050] The glue-applying device moves on the main body of the crossbeam 4 driven by the walking servo hoist 5 to adjust the Y-axis coordinate of the rubber boot 7.

[0051] The follow-up transport trolley 9 moves synchronously with the crossbeam traveling component 3.

[0052] The method for using this automatic glue application position positioning device includes the following steps:

[0053] S1: Obtain the position and adhesive information of the marked points on the path to be coated;

[0054] S2: Import the location of the marked points and the colloid information into the coating equipment control system and fit the coating path;

[0055] S3: When starting the glue application operation, mark the starting point of the current glue application path;

[0056] S4: In the gluing process, the beam walking part 3 walks on the wall hanging track 1, the glue shoe 7 is moved to the X-axis position by the coordinated movement of the beam walking part 3 and the follow-up carrying trolley 9, the glue shoe 7 is moved to the Y-axis position by the transverse movement of the walking servo block 5 on the beam body 4, the glue shoe 7 is vertically moved to the Z-axis position by the power provided by the walking servo block 5; so as to move the glue shoe 7 to the current gluing position above according to the stored marking point position information and the fitted gluing path three-dimensional curve, complete the automatic positioning of the gluing position, and realize the matching of the glue width information of the gluing position.

[0057] In actual application, the rotating shaft 2 is used to complete the storage of the beam body 4 in the non-working time sequence. The balancer 6 is used to stabilize the glue shoe, and can assist to complete the extension and retraction of the glue shoe 7 in the Z-axis direction. The rotating unit 8 plays a connecting and supporting role, and through the internal rotating structure, the beam body 4 and the follow-up carrying trolley 9 keep coordinated movement during storage.

[0058] The above is the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. An automatic positioning device for the adhesive application position during the adhesive application process of wind turbine blades, characterized in that, Includes wall-mounted rails, crossbeams, adhesive application equipment, and a follow-up transport trolley. The wall-mounted track is installed on the I-beams of the factory production workshop columns. It consists of an upper track and a lower track, with an upper tube and a lower tube installed on the upper track and lower track, respectively. The crossbeam includes a main body and a traveling component. The traveling component is connected to the main body of the crossbeam via a vertically arranged pivot. The traveling component is mounted on a wall-mounted track. The glue application device includes a walking servo hoist, a balancer, and a rubber boot. The walking servo hoist is suspended on the main body of the crossbeam, the rubber boot is connected to the walking servo hoist via a cable, and a balancer is installed between the rubber boot and the walking servo hoist. The follow-up transport trolley is equipped with an adhesive application system and control system hardware. The vertical main beam and the cross beam of the follow-up transport trolley are connected by a rotating unit. The method of using the automatic positioning device includes the following steps: S1: Obtain the position and adhesive information of the marked points on the path to be coated; S2: Import the location of the marked points and the colloid information into the coating equipment control system and fit the coating path; S3: When starting the glue application operation, mark the starting point of the current glue application path; S4: During the glue application process, the crossbeam traveling component moves on the wall-mounted track. Through the coordinated movement of the crossbeam traveling component and the follow-up transport trolley, the rubber boot is moved to the predetermined position on the X-axis. The traveling servo hoist moves laterally on the crossbeam body to move the rubber boot to the predetermined position on the Y-axis. The traveling servo hoist provides power to make the rubber boot move vertically to the predetermined position on the Z-axis. Thus, based on the stored marked point position information and the fitted three-dimensional curve of the glue application path, the rubber boot is moved to the position directly above the current glue application position, completing the automatic positioning of the glue application position and matching the glue width information of the glue application position. The crossbeam is used to span the width of the blade production station. Guide rails and racks are installed under the main body of the crossbeam to provide a travel track for the glue coating device and to provide support and guidance for the glue coating device. The follow-up transport trolley moves synchronously with the crossbeam traveling component; The marked points in S1 are sampling points set on the glue application path. During the pre-molding process, clay is placed at the marked points. The position information of the marked points is the three-dimensional coordinates of each marked point relative to the starting marked point, where the blade axis is the X-axis of the three-dimensional coordinate system; the glue width direction, i.e., the axis of the crossbeam body, is the Y-axis of the three-dimensional coordinate system; and the glue height direction, i.e., the vertical direction of the ground, is the Z-axis of the three-dimensional coordinate system. The colloid information includes the width and thickness of the colloid to be applied at the corresponding points.

2. The automatic positioning device for the adhesive application process of wind turbine blades according to claim 1, characterized in that, The crossbeam traveling unit moves on the wall-mounted track via a rack and pinion transmission, powered by a servo motor.

3. The automatic positioning device for the adhesive application process of wind turbine blades according to claim 1, characterized in that, The crossbeam is retracted along the blade axis during non-working processes, and the main body of the crossbeam is equipped with at least one adhesive applicator.

4. The automatic positioning device for the adhesive application process of wind turbine blades according to claim 1, characterized in that, The adhesive applicator is driven by a walking servo hoist to move on the main body of the crossbeam to adjust the Y-axis coordinate of the rubber boot.

5. The automatic positioning device for the adhesive application process of wind turbine blades according to claim 1, characterized in that, In step S2, the location information of the marked points and the colloid data obtained in step S1 are first formed into data tables and imported into the control system of the coating equipment; the control system fits the coating path by fitting the marked points into a three-dimensional curve.

6. The automatic positioning device for the adhesive application process of wind turbine blades according to claim 1, characterized in that, In S4, an angle sensor is installed on the wall-mounted track to monitor the angle between the wall-mounted track and the crossbeam traveling mechanism in real time. When the angle between the two is not 90°, if the angle deviation is less than 5°, the angle is adjusted to 90° by controlling the moving speed of the follow-up transport trolley. If the angle deviation exceeds 5°, an alarm is triggered for the crossbeam angle to exceed the limit.

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